RAINBOw

RB SERIES
USER MANUAL

English
V 3.9.1

Update : 2022/07
RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

© RAINBOW ROBOTICS Inc. All rights reserved. 2

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

INDEX
PREFACE .......................................................................................................................... 7

CHAPTER 1. INTRODUCTION ............................................................................................ 8

1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS ................................................................. 8
1.2 SYSTEM CONFIGURATION ...................................................................................................... 9
1.3 ROBOT ARM ............................................................................................................................ 13
1.4 CONTROL BOX ........................................................................................................................ 21
1.5 TEACHING PENDANT TABLET PC (OPTIONAL) ................................................................... 22
1.6 JOINT LIMIT ............................................................................................................................ 23
1.7 WORKSPACE ........................................................................................................................... 24
1.8 MAXIMUM LOAD CAPACITY .................................................................................................. 25

CHAPTER 2. SAFETY & PRECAUTIONS ............................................................................ 26

2.1 SAFETY INDICATIONS ............................................................................................................ 26
2.2 GENERAL SAFETY WARNING & PRECAUTIONS ................................................................... 27
2.3 USAGE & FUNCTIONALITY ..................................................................................................... 30
2.4 POTENTIAL SAFETY ISSUES .................................................................................................. 31
2.5 LIABILITY LIMITATIONS ......................................................................................................... 32
2.6 SHIPPING & TRANSPORTATION ........................................................................................... 33
2.7 EMERGENCY STOP ................................................................................................................. 34
2.8 USER SAFETY .......................................................................................................................... 35
2.9 SAFETY CONTROLLER ........................................................................................................... 36
2.10 RISK ASSESSMENT .............................................................................................................. 37

CHAPTER 3. SAFETY FUNCTIONS ................................................................................... 38

3.1 INTRODUCTION ...................................................................................................................... 38
3.2 STOP CATEGORY .................................................................................................................... 40
3.3 FUNCTIONAL SAFETY ............................................................................................................ 41
3.4 SAFETY DEVICE MOUNTING LOCATION............................................................................... 44
3.5 EMERGENCY STOP SWITCH .................................................................................................. 46

© RAINBOW ROBOTICS Inc. All rights reserved. 3

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.6 OPERATION MODE ................................................................................................................. 47

3.7 OPERATING ENVIRONMENT ................................................................................................. 49
3.8 MAINTENANCE OF SAFETY FUNCTIONS ............................................................................. 50
3.9 APPLIED STANDARDS ............................................................................................................ 52

CHAPTER 4. INSTALLATION ........................................................................................... 54

4.1 INSTALLATION PRECAUTION................................................................................................ 54
4.2 INSTALLATION LOCATION .................................................................................................... 55
4.3 EXAMPLES OF INSTALLATION .............................................................................................. 56
4.4 MOUNTING THE ROBOT ......................................................................................................... 57
4.5 TOOL CONNECTION ............................................................................................................... 58
4.6 CABLE CONNECTION ............................................................................................................. 64
4.7 ROBOT CONTROL BOX I/O OVERVIEW .................................................................................. 66
4.8 SAFETY INPUT CONFIGURATION .......................................................................................... 67
4.9 GENERAL PURPOSE DIGITAL I/O CONFIGURATION ............................................................ 69
4.10 GENERAL PURPOSE ANALOG I/O CONFIGURATION ......................................................... 71

CHAPTER 5. GET STARTED ............................................................................................. 73

5.1 CONTROL BOX ON/OFF.......................................................................................................... 73
5.2 TEACHING PENDANT/PC ON/OFF ........................................................................................ 74

CHAPTER 6. SOFTWARE OVERVIEW................................................................................ 75

6.1 UI STRUCTURE ........................................................................................................................ 75
6.2 STARTUP SCREEN DISPLAY .................................................................................................. 76
6.3 MAIN SCREEN DISPLAY ......................................................................................................... 77
6.4 MAKE ....................................................................................................................................... 79
6.5 PLAY ........................................................................................................................................ 80
6.6 SETUP ...................................................................................................................................... 81

CHAPTER 7. PROGRAMMING GUIDE ............................................................................... 82

7.1 ICONS AND ACTION SCREEN ................................................................................................ 82
7.2 CREATE TEACHING ENVIRONMENT ..................................................................................... 97

© RAINBOW ROBOTICS Inc. All rights reserved. 4

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.3 TEACHING (PROGRAMMING)..............................................................................................101

7.4 TEACHING ICONS AND DESCRIPTION ................................................................................145
7.5 EDITNG THE PROGRAM .......................................................................................................313
7.6 PROGRAM MANAGEMENT ..................................................................................................317
7.7 OPERATION UTILITIES .........................................................................................................320

CHAPTER 8. ROBOT OPERATION .................................................................................. 340

8.1 ROBOT OPERATION ..............................................................................................................340
8.2 ROBOT STATUS CHECK .......................................................................................................342
8.3 TROUBLESHOOTING WHILE OPERATING...........................................................................343

CHAPTER 9. SETUP ...................................................................................................... 347

9.1 SET-UP(COBOT) ....................................................................................................................347
9.2 SET-UP(TOOL).......................................................................................................................348
9.3 SET-UP(SYSTEM)..................................................................................................................349
9.4 SET-UP(LOG) .........................................................................................................................350
9.5 SET-UP(UTILITY) ...................................................................................................................351
9.6 SET-UP(SERIAL) ....................................................................................................................352
9.7 SET-UP(I/O 1) ........................................................................................................................353
9.8 SET-UP(I/O 2) ........................................................................................................................360
9.9 SET-UP(INBOX) .....................................................................................................................362
9.10 SET-UP(INTERFACE ) .........................................................................................................363
9.11 SET-UP(COORDINATE) .......................................................................................................364
9.12 SET-UP(DEVICES) ...............................................................................................................365
9.13 SET-UP(TOOL LIST) ............................................................................................................366
9.14 SET-UP(PROGRAM TABLE) ................................................................................................367

CHAPTER 10. MAINTENANCE ....................................................................................... 369

10.1 CHECK LIST AND PERIOD ..................................................................................................369
10.2 ROBOT ARM MAINTENANCE.............................................................................................370
10.3 CONTROL BOX MAINTENANCE.........................................................................................371

© RAINBOW ROBOTICS Inc. All rights reserved. 5

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX A. SYSTEM SPECIFICATION ....................................................................................372

APPENDIX B. FOOT PRINT SCHEMATIC ...................................................................................374
APPENDIX C. TOOL FLANGE SCHEMATIC ................................................................................376
APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC.........................................................378
APPENDIX D-1. CONTROL BOX DIGITAL INPUT .......................................................................379
APPENDIX D-2. CONTROL BOX DIGITAL OUTPUT ....................................................................384
APPENDIX D-3. TOOL FLANGE DIGITAL INPUT ........................................................................386
APPENDIX D-4. TOOL FLANGE DIGITAL OUTPUT.....................................................................389
APPENDIX E. EXTERNAL SCRIPT CONTROL API ......................................................................393
APPENDIX F. COORDINATE SYSTEM ........................................................................................426
APPENDIX G. STOPPING TIME/DISTANCE ...............................................................................427
APPENDIX H. NAMEPLATE ........................................................................................................431
APPENDIX I. MODBUS TCP SERVER ..........................................................................................435
APPENDIX J. SYSTEM UPDATE .................................................................................................441
APPENDIX K. ANDROID TABLET CONFIGURATION .................................................................445
APPENDIX L. BRAKE SYSTEM....................................................................................................448

© RAINBOW ROBOTICS Inc. All rights reserved. 6

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PREFACE
Before installing this product, please read the user manual thoroughly. Please follow the
instructions in the manual describing the installation steps in detail. The contents of this
manual are based on the version of the manual when it was written, and the information
about the product may have changed without prior notice to the user. If you are unsure about
the requirements, recommendations or safety procedures described in this manual, please
contact Rainbow Robotics. Some illustrations in this manual are intended to help you
understand the concepts and installation of the system and may differ from actual products.

Rainbow Robotics Inc. owns the copyright and intellectual property rights on all
contents and designs of this manual. Therefore, the use, duplication, and re-distribution
of Rainbow Robotics Inc. properties and materials without prior written permission is
strictly prohibited and constitutes an infringement of Rainbow Robotics' intellectual
property rights.

User is solely liable for any misuse or alteration of the patent rights of this equipment.
The information contained in this manual is accurate and reliable.

The information provided in this manual is the property of Rainbow Robotics, Inc. and
may not be duplicated or reproduced in whole or in part without its consent. The
information contained herein is subject to change without notice, and the manual is an
original instruction. For more information on revising the manual, please visit the
website (www.rainbow-robotics.com).

ⓒ Rainbow Robotics Inc. All rights reserved

© RAINBOW ROBOTICS Inc. All rights reserved. 7

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 1. INTRODUCTION
1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS
The RB product line from Rainbow Robotics is a series of collaborative robots. The RB series
is designed to be easily accessible and usable to anyone, such as laymen or enthusiasts.
The RB series is specialized to perform regular, continuous, and repetitive tasks in small and
dense human environments across various fields without any additional safety devices. The
RB series provide robotic solutions to increase productivity for your business.

 Intuitive usability: It is easy to set up and operate an RB robot unit. Experts and non-
experts alike can use it effectively through the intuitive visual User Interface (UI)
configuration.
 Convenience and safety: The RB series has external and self-collision detection
systems, which minimize accidents and injuries while providing a safe work
environment for the operator.
 Space efficiency: An RB unit can be applied to all types of production lines
regardless of space. It may be used in many different environments due to versatile
configurations that allow it to be installed on a variety of surfaces.

© RAINBOW ROBOTICS Inc. All rights reserved. 8

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.2 SYSTEM CONFIGURATION

The system configuration of an RB unit is illustrated in the diagram below.

[ Stand-type control box system configuration ]

 Robot Arm: The Robot Arm is an industrial collaborative robot that can be used for
repetitive routine tasks, carrying small objects, or assembling parts. It can be used
with various third-party robotic grippers as well as various types of tools.

 Control Box: The Control Box controls the movement of the robot arm based on user
programs contained on the Teach pendant/tablet PC. Digital and analog
input/output ports are available for connecting various devices and tools.

 Estop/Jog Interface (for stand-type control box): With the emergency stop switch, the
robot operation can be stopped. It comes with simple program flow control buttons
such as Play/Stop.

 Teaching Pendant/Tablet PC (optional): The Teaching Pendant/Tablet PC is an

external device on which a user can create programs and operate the system. It is
used to setup, program, and teach certain postures to the robot arm.

© RAINBOW ROBOTICS Inc. All rights reserved. 9

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The components of the provided system and the quantity of each component are as follows.

 Robot arm box components

� �

Robot 1 Robot Arm 1 EA

2 Wrench/ bolts & washers 1 EA/ 4 EA
Other components
3 Tool outside cable 1 EA
※ A tool dedicated
4 Bolt-fixing tool 1 EA
to the NSF model

※ The tool dedicated to the NSF model is exclusively for the NSF model components.

© RAINBOW ROBOTICS Inc. All rights reserved. 10

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Control box components

2 3 4

5 6 7

1 EA
1 Control box
1 EA
2 Power cable
Robot arm-control box 1 EA
3
connection cable
1 EA
System components 4 Emergency stop/ jog interface
1 set
5 Control box key
10 EA
6 Terminal blocks
1 set
7 Fuse

※ It is recommended to use the 5-meter cable provided by the manufacturer for the power cable,
emergency stop/ jog interface cable, and robot arm-control box connection cable. It is
recommended to use a cable shorter than 3 meters for the shielded LAN, I/O port connecting, and
USB cables, as well as the outside cables for use with the wire box and model.

© RAINBOW ROBOTICS Inc. All rights reserved. 11

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Optional items – tablet PC

1 Tablet PC 1 EA

Optional items 2 Charger & connecting cable 1 set

3 3-meter extension cable 1 EA

© RAINBOW ROBOTICS Inc. All rights reserved. 12

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.3 ROBOT ARM

 RB series Joint Description

No. Name
① Base
② Base Joint
③ Shoulder Joint
④ Elbow Joint
⑤ Wrist 1 Joint
⑥ Wrist 2 Joint
⑦ Wrist 3 Joint
⑧ Tool Flange

© RAINBOW ROBOTICS Inc. All rights reserved. 13

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 RB series Component Description

No. Name Description

① Teaching Button Button for direct-teaching
② Tool Flange Part for mounting tool or gripper
③ Tool I/O I/O ports to control tool or gripper
④ Base Part for mounting the robot arm
Connector for cable between Robot arm
⑤ Connector
and Control box

© RAINBOW ROBOTICS Inc. All rights reserved. 14

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Dimensions

[ RB5-850E/EN ] [ RB5-850EA1/A2 ]

[ RB3-1200E/EN ] [ RB3-1200EA1/A2 ]

© RAINBOW ROBOTICS Inc. All rights reserved. 15

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Dimensions

[ RB10-1300E/EN ] [ RB10-1300EA1/A2 ]

[ RB10-1300EA3 ] [ RB16-900E]

© RAINBOW ROBOTICS Inc. All rights reserved. 16

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ RB16-900EA1 ] [ RB16-900EA2]

© RAINBOW ROBOTICS Inc. All rights reserved. 17

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Configuration of the embedded Pneumatic-tubing/Electric-line in RB5-850EA#, RB3-

1200EA#, RB10-1300EA#, and RB16-900EA#.

[ Embedded pneumatic tubing connection ]

[ RB5-850EA1, RB3-1200EA1, RB10-1300EA3, RB16-900EA1 ]

© RAINBOW ROBOTICS Inc. All rights reserved. 18

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ RB5-850EA2, RB3-1200EA2 ]

[ RB10-1300EA1, RB16-900EA2 ]

[ RB10-1300EA2 ]

© RAINBOW ROBOTICS Inc. All rights reserved. 19

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

※ RB5-850EA#, RB3-1200EA#, RB10-1300EA#, RB16-900EA# model's pneumatic lines and

electric lines are provided as shown in the following table, please refer to the picture
above for use.

Model Name Pneumatic Lines Wire Lines

RB5-850EA1 MAX 4EA(4∅ Pneumatic Tube)* None
RB5-850EA2 MAX 5EA(4∅ Pneumatic Tube)* 12 Pin(AWG28)
RB3-1200EA1 MAX 4EA(4∅ Pneumatic Tube)* None
RB3-1200EA2 MAX 5EA(4∅ Pneumatic Tube)* 12 Pin(AWG28)
RB10-1300EA1 1EA(8∅ Pneumatic Tube) None
RB10-1300EA2 1EA(8∅ Pneumatic Tube) 12 Pin(AWG28)
RB10-1300EA3 MAX 4EA(4∅ Pneumatic Tube)* None
RB16-900EA1 MAX 4EA(4∅ Pneumatic Tube)* None
RB16-900EA2 1EA(8∅ Pneumatic Tube) None

* The number of pneumatic lines needs to be adjusted after checking the driving range.

Warning
Warning:

1) For pneumatic / electric wire passing models, if passing air or power over the
defined standard, hardware may be damaged.

© RAINBOW ROBOTICS Inc. All rights reserved. 20

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.4 CONTROL BOX

The front and lower/inner sections of the control box are illustrated in the diagram below.

 Stand-type control box

No. Name
① AC Power Socket (AC POWER)
② AC Power Switch (AC SWITCH)
③ Connector for Robot Arm cable (ROBOT)
Connector for E-STOP/JOG
④
(E-STOP/JOG)
⑤ LCD
⑥ Main Switch
⑦ USB/LAN connectors
⑧ I/O ports

© RAINBOW ROBOTICS Inc. All rights reserved. 21

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.5 TEACHING PENDANT TABLET PC (OPTIONAL)

The teaching pendant/tablet PC is an optional accessory. It MUST be purchased separately.

 For stand-type control box

※ Purchasing the tablet PC is not required. The App to operate the RB series can be
downloaded from the Rainbow Robotics website.

※ Tablet setup is required for use with RB products. See the Appendix.

© RAINBOW ROBOTICS Inc. All rights reserved. 22

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.6 JOINT LIMIT

An RB robot unit consists of six joints. The axes of rotation and joint limits are illustrated in
the following section.

Joint Range
J1 ± 360 °

J2 ± 360 °

J3 ± 165 °

J4 ± 360 °

J5 ± 360 °

J6 ± 360 °

© RAINBOW ROBOTICS Inc. All rights reserved. 23

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.7 WORKSPACE
The maximum radius is an 850mm workspace for the RB5-850E Series. The maximum
radius is 1300mm for the RB10-1300E Series and is 1200mm for the RB3-1200E Series and
is 900mm for the RB16-900E Series. The area A in the figure below represents the kinematic
singular area. This means that any motion programmed in the inertial coordinate system
(e.g. programming a motion using the Move L command) may not work properly. The robot
may stop itself or move faster than designated. Programing the motion in the joint
coordinate system (e.g. Move J) is recommended in this particular area.

A. The kinematic singular area. Limits some motion programmed in the inertial
coordinate system (e.g. Move L).

B. Workspace of the RB unit.

© RAINBOW ROBOTICS Inc. All rights reserved. 24

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1.8 MAXIMUM LOAD CAPACITY

The maximum payload of the robot arm depends on the distance between the Tool flange
and the center of mass of the payload. The maximum payload by each specified distance is
as follows.

© RAINBOW ROBOTICS Inc. All rights reserved. 25

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 2. SAFETY & PRECAUTIONS

2.1 SAFETY INDICATIONS
The following safety warnings are used in this manual.

Danger
Danger :

Failure to follow instructions marked with this symbol may result in severe harm, which
could result in serious injury or death.

Warning
Warning :

Failure to follow the instructions with this symbol may result in an accident, which could
result in serious injury to the user.

Caution
Caution :

Failure to follow directions marked with this symbol may result in damage to the product
or injury to users.

© RAINBOW ROBOTICS Inc. All rights reserved. 26

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.2 GENERAL SAFETY WARNING & PRECAUTIONS

This section contains general hazards, warnings, and cautions that will be repeated or
further explained elsewhere in this manual.

Danger
Danger:

1) Robots and electrical equipment must be installed according to the instructions

from Chapter 4- Installation.

Warning
Warning:

1) Robot users and robot application system manufacturers should be familiar with the
contents of this manual. In addition, they should complete operational training.
2) Make sure enough space is provided for the robot arm to move freely.
3) When using the robot, do not wear loose clothes or jewelry. Long hair should be tied
so that it does not get caught in the joints of the robot.
4) Never operate a broken or faulty robot.
5) If a fatal error occurs in the software, immediately hit the emergency switch to stop
the robot, and then contact your supplier or Rainbow Robotics.
6) Check that the robot installation angle, tool setting, safety setting, etc. are entered
correctly.
7) Do not connect safety equipment to the general use I / O ports in the back of the
control box. Safety equipment should only be used with safety-related I / O ports.

8) Watch out for the movement of the robot when using the teaching pendant.
9) During the operation of the robot, do not enter the operating range of the robot, and
do not touch the robot while it is operating.
10) Never modify the robot without the support of Rainbow Robotics. Rainbow Robotics
(hereinafter "the manufacturer") bears no responsibility/liability for any problems
caused by user's modification or modification of the product.

© RAINBOW ROBOTICS Inc. All rights reserved. 27

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

11) Both the robot arm and the control box generate heat when used for a long time. Do
not touch the robot after long use. If the user needs to touch the robot, make sure to
turn off the controller and allow the robot to cool down before touching.
12) When the robot collides with an external object, a considerable amount of kinetic
energy is generated. This kinetic energy is proportional to the speed of the robot and
the payload.
13) Confirm that you are using the recommended installation settings for the robot. The
teaching or collision detection functions may not work properly if the robot arm's
mounting configuration, tool weight, tool center of gravity, length, safety
configuration, etc. are not entered correctly.
14) The teaching function should only be used in a safe environment. Do not use this
function when there are hazards nearby.
15) Before using the teaching function, input the relevant information (tool length,
weight, center of gravity, etc.) accurately. Not entering the accurate relevant
specifications will cause malfunctions when using the direct teaching function.
16) If the robot joints move at an unsafe speed when using the direct teaching function,
the user can force the robot to stop with the emergency switch for their safety.
17) Robotic arm and control box generate heat during operation. Do not touch the robot
arm during operation or immediately after operation as continuous contact with the
robot arm may cause it to malfunction. Before manipulating or touching the robot
arm, make sure to check the temperature reading on the UI screen or turn off the
robot arm. Please wait at least 1 hour to cool it down before touching.

Caution
Caution:

1) When using with a machine or another robot that can damage the robot arm, it is
recommended to test all functions separately before use. The manufacturer is not
liable for any programming errors, damage to the RB, or damage to other machines
due to robot malfunctions.
2) Do not expose the robot to strong magnetic fields as the robot may be damaged.

© RAINBOW ROBOTICS Inc. All rights reserved. 28

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) Attach a warning label to the spot where there is a danger of electric shock from the
electric device.
2) Do not tear, damage, or remove the cover. Be careful when handling parts or devices
with a label attached, as well as surrounding components.
3) To avoid electric shock, do not touch the internal electric parts.

© RAINBOW ROBOTICS Inc. All rights reserved. 29

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.3 USAGE & FUNCTIONALITY

The robot arm is intended to be used for transferring and assembling objects by utilizing
tools and should only be operated in the environment specified in the description. It is
possible to operate it without a physical protective barrier. However, a safety mechanism
should be used after performing the risk evaluation for the whole system. The use of the
robot in any of the following applications and environments is considered improper use, and
the manufacturer is not liable for any direct or indirect damage to the robot or accidental,
consequential damage.

 Use in any potentially explosive environment

 Medical and life-related uses
 Human and animal transport
 Any use without risk assessment
 Any use in places where the performance of the safety function is insufficient
 Any use beyond performance / environmental specifications

※ Improper use is not limited to the above items.

© RAINBOW ROBOTICS Inc. All rights reserved. 30

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.4 POTENTIAL SAFETY ISSUES

Additional protective measures must be taken if the final system is deemed unsafe or
unable to adequately reduce risk. Users should pay attention to the following potential risks:

 Injury (stenosis), which may occur when a finger is caught between the gears, etc.,
 Injury (puncture, deep cuts) by sharp edges or edges of the tool.
 Injury (puncture, deep cuts, falling object) caused by objects located near the robot.
 Injury that can occur when working with toxic and harmful substances (skin damage,
dyspnea)
 Injury caused by collision with the robot (bruises, fracture)
 Injury that may occur due to not fully fastening objects
 Injury from an object that has detached or dropped from the tool mount

※ The characteristics of potential risks may vary depending on the final system.

© RAINBOW ROBOTICS Inc. All rights reserved. 31

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.5 LIABILITY LIMITATIONS

This manual does not cover all peripherals that affect safety. The system installer must
comply with safety requirements of national safety regulations and the laws of the country
where the robot arm is installed. The robotic arm consists of an end-coupled system of
peripherals. This manual also does not cover all peripherals, including the design, installation,
operation and safety of the final system. The final system to which the robot arm is applied
must be designed and installed to meet safety requirements stipulated in the regulations
and laws of the country where the system is installed.

The operator or installer of the final system containing the robot arm is responsible for:

 Risk assessment of the final system

 Risk assessment of whether to add additional safeguards
 Ensuring that the system is properly designed, configured, and installed
 Definition of usage for the system
 Identification of important markings and contacts for use and safety
 Providing technical documents, such as manuals

※ Peripherals are not limited to the above items. Compliance with the safety instructions in
this manual does not infer that all potential risks are fully avoidable.

© RAINBOW ROBOTICS Inc. All rights reserved. 32

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.6 SHIPPING & TRANSPORTATION

At least two people are required for transportation. Any damages to the robot incurred
during shipment or transportation are excluded from the warranty.

Warning
Warning:

1) Be careful not to damage the product during transportation. Damages incurred

during transportation will void the warranty.
2) When transporting the robot arm, strong vibration or shock may damage the system.
The robot must be transported using the packaging box provided by the
manufacturer.

© RAINBOW ROBOTICS Inc. All rights reserved. 33

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.7 EMERGENCY STOP

The Emergency Stop button can be used to forcefully stop the robot arm in an emergency.
By pressing the Emergency Stop button, the user will stop commands from being sent by the
robot control box and terminate any motion.

The section below describes how the Emergency Stop button for stand-type control box
works.

 Emergency Stop
Users can stop the robot arm immediately by pressing the EMERGENCY STOP
button.

 Re-Activating from Emergency Stop

Users can restart after Emergency Stop by turning the EMERGENCY STOP button in
clockwise direction.

© RAINBOW ROBOTICS Inc. All rights reserved. 34

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.8 USER SAFETY

For the user’s safety, be sure to note the following:

 Powerless robot operation

In case of an emergency, or in any situation without power, the user can move the robot arm
by forcing the joints into a different configuration (forced back driving). To perform forced
back driving, the user must push or firmly pull the robot arm. Make sure that the robot is not
powered-on while performing forced back driving.

Caution
Caution:

1) If excessive force is applied to the joints in the non-powered state, beware that the
driving part may get overloaded. The manufacturer is not liable for any damage
caused by excessive force.

© RAINBOW ROBOTICS Inc. All rights reserved. 35

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.9 SAFETY CONTROLLER

The Safety Control System of Rainbow Robotics’ RB5-850E Series, RB3-1200E Series, RB10-
1300E Series, RB16-900E Series follows ISO 13849-1 Cat3. PLd.

© RAINBOW ROBOTICS Inc. All rights reserved. 36

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2.10 RISK ASSESSMENT

A risk assessment is important when creating a system that uses robots, including the RB
unit. The safety factors to be considered when operating the robot depend on the
configuration and integration of the robot arm into the whole system. As such, the robot
alone cannot be used for risk assessment.

Refer to the guidelines of ISO 12100 and ISO 10218-2, as well as the technical specifications
of ISO / TS 15066 in order to carry out the risk assessment of robots.

A risk assessment must be performed immediately after robot arm installation. This
assessment is designed to determine and configure safety settings. Determining the need
for additional emergency stop buttons, as well as adding protective measures for the
surrounding environment, are the key tasks of risk assessment.

The safety-related functions of the collaborative robot can be configured in the safety
configuration menu. The menu provides the following functions.

■ I / O settings: The control box can be set to output safety information through the
output terminal.
■ Speed control: Enables the user to control the moving speed of the robot arm.
■ Collision detection sensitivity adjustment: When the robot collides with a nearby
object, it will automatically stop. However, the user can control the sensitivity at
which the arm detects the collision.

If the above safety-related functions do not sufficiently reduce the risk, or if any risks cannot
be eliminated, make sure to add an additional safeguard to eliminate the risks. The
manufacturer is not liable for accidents caused by risks that do not comply with the
requirements based on international standards, risks that do not comply with such
requirements based on national laws and regulations, and any risk that is not reviewed in the
above risk assessment.

© RAINBOW ROBOTICS Inc. All rights reserved. 37

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 3. SAFETY FUNCTIONS

3.1 INTRODUCTION
This chapter contains important safety information, which must be read and understood by
the integrator of the RB series collaborative robots before the robot is initially powered on.

RB series can protect users and devices by providing various safety functions and safety
device interfaces. Safety functions and interfaces meet Category 3, Performance Level d (PL
d) as described in ISO 13849-1 and Hardware Fault Tolerance 1, Safety Integrity Level 2 (SIL
2) as described in IEC 62061.

Caution
Caution:

1) Depending on the case of the robot installation, the system integrator must perform
a risk assessment, and accordingly, the workspace must be configured using safety
monitoring functions and interfaces.
2) If a fault is found in the robot's safety function or interface, Stop Category 0 is
initiated.
3) Examples of defects include broken cables in the emergency stop circuit, incorrect
wiring of additional safety devices, and non-overlapping wiring of additional safety
devices (refer to Section 5 of this chapter).
4) System integrators and operators must be informed that there is a safety monitoring
function that the robot performs internally, and the safety detection doesn’t involve
only the operation of the emergency stop switch and the operation of the protective
stop device, but also the position of the robot arm during task execution. The robot
can be stopped in the designated Stop mode even for movements above the
physical limit, such as speed, momentum, etc. (See Section 3 of this chapter for the
safety monitoring function).
5) System integrators and operators should be careful to mark the time and stopping
distance between the robot stopping due to the operation of the error and safety
monitoring functions described above. The system integrator must conduct a risk
assessment considering the stopping distance and time (see Section 4 of this
chapter).
6) System integrators and operators must be aware of the fact that there is a safety
monitoring function to limit the movement of the robot's joints and the robot/TCP,
and must select the range of motion of the robot. TCP refers to the position to
which the offset is added from the center point of the end of the robot arm.

© RAINBOW ROBOTICS Inc. All rights reserved. 38

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Danger
Danger :

1) The system integrator must conduct a risk assessment before applying power to the
robot, and if it is used differently from that determined by the risk assessment or if
different parameters are used, a risk that is not sufficiently reduced may occur.
2) When connecting additional safety devices, the power of both the robot and the
control panel must be shut off.
3) When installing an additional safety device, measures must be taken to ensure that
there is no problem when using it mechanically. For example, when using a light
curtain, it must be firmly fixed to the floor/fixture, and movement and vibration must
not occur during robot operation.
4) All safety function interfaces are set to 24V. Be careful when connecting devices
with different voltages as it may cause equipment damage and fire.
5) The signal from the device mounted on the Tool Flange is not included in the safety
function. Do not connect the safety device to the Tool Flange cable.

© RAINBOW ROBOTICS Inc. All rights reserved. 39

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.2 STOP CATEGORY

The safety function allows the robot to initiate three types of stop categories defined by IEC
60204-1.

Stop
Description
Category

Immediately, the robot is turned off and stopped.

* Joint brake wear & tear may occur, which may shorten the
0
lifespan of the robot. Do not use it unless it is unavoidable.
[STO]
**Because the power of the robot is shut off, it is necessary
to restart it when using it again after removing the danger.

All joints of the robot are decelerated to the maximum and

1 stopped, and then the power is shut off to stop.
[SS1] *Since the power of the robot is shut off, it is necessary to
restart it when using it again after removing the danger.

All the joints of the robot are decelerated to the maximum,

stop, and then enter the SOS state.
*SOS: Maintains the current position while the robot is
2
powered on and activated, and starts Stop Category 0 when a
[SS2]
position change is detected.
** Since the power is not shut off, it can be used immediately
after removing the danger.

Caution
Caution:

1) According to ISO10218-1 5.5.2 and 5.5.3, a suitable stop category for

emergency stop and protective stop should be selected.
2) For an emergency stop, you must select from stop category 0 or 1.
3) For an emergency stop, activation is required.
4) For a protection stop, at least one must be selected from stop categories 0 and 1.
5) For additional protection stops, stop category 2 can be used.

© RAINBOW ROBOTICS Inc. All rights reserved. 40

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.3 FUNCTIONAL SAFETY

The manufacturer recommends the following conditions are met for the installation location.
The safety functions of the collaborative robot RB series are used to reduce the risk of the
robot system determined by risk assessment.

The parameters of the safety function are set at the factory, and the system integrator can
change some items based on the risk assessment. The base of the robot has the controls
for position and speed items/features.

The following is the safety function specifications for RB series.

Safety Function PL & Category

SF.1 STO (Safe Torque Off) PL d, Category 3
Safety stopping
SF.2 SS1 (Safe Stop 1) PL d, Category 3
functions
SF.3 SS2 (Safe Stop 2) PL d, Category 3
SF.4 SOS (Safe Operating Stop) PL d, Category 3
SF.5 SLP (Safely-Limited Position) PL d, Category 3
SF.6 SLS (Safely-Limited Speed) PL d, Category 3

Safety SF.7 SLA (Safely-Limited Acceleration) PL d, Category 3

monitoring SF.8 SLI (Safely-Limited Increment) PL d, Category 3
functions
SF.9 SLT (Safely-Limited Torque) PL d, Category 3
SF.10 RPL (Robot Position Limit) PL d, Category 3
SF.11 TSL (TCP Speed Limit) PL d, Category 3
SF.12 CBPL (Control Box Power Limit) PL d, Category 3
SF.13 EMS1 (Emergency Stop1) PL d, Category 3
Emergency stop
SF.14 EMS2 (Emergency Stop2) PL d, Category 3
SF.15 PRS (Protective Stop) PL d, Category 3

Protective stop SF.16 HSS (Hard Safeguard Stop) PL d, Category 3

SF.17 SSS (Soft Safeguard Stop) PL d, Category 3

- STO(Safe Torque Off): This function prevents force-producing power from being provided
to the motor. Power that can cause rotation is not applied to the motor. This safety sub-
function corresponds to an uncontrolled stop, according to stop category 0 of IEC 60204-1.
- SS1(Safe Stop 1): This function is specified as either a.) SS1-d (Safe-Stop 1 deceleration
controlled) initiates and controls the motor deceleration rate within selected limits to stop
the motor and performs the STO function when the motor speed is below a specified limit; or

© RAINBOW ROBOTICS Inc. All rights reserved. 41

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

b.) SS1-r (Safe-Stop 1 ramp monitored) initiates and monitors the motor deceleration rate
within selected limits to stop the motor and performs the STO function when the motor
speed is below a specified limit; or c.) SS1-t (Safe Stop 1 time controlled) initiates the motor
deceleration and performs the STO function after an application specific time delay. This
safety sub-function corresponds to a controlled stop according to stop category 1 of IEC
60204-1. Above three candidates, our system uses SS1-t.

- SS2(Safe Stop 2): This function is specified as either a.) SS2-d (Safe Stop 2 deceleration
controlled) initiates and controls the motor deceleration rate within selected limits to stop
the motor and performs the safe operating stop function when the motor speed is below a
specified limit; or b.) SS2-r (Safe Stop 2 ramp monitored) initiates and monitors the motor
deceleration rate within selected limits to stop the motor and performs the safe operating
stop function when the motor speed is below a specified limit; or c.) SS2-t (Safe Stop 2 time
controlled) initiates the motor deceleration and performs the safe operating stop function
after an application specific time delay. This safety sub-function SS2 corresponds to a
controlled stop according to stop category 2 of IEC 60204-1. Among the above three
candidates, our system uses SS2-t.

- SOS(Safe Operating Stop): This function prevents the motor from deviating more than a
defined amount from the stopped position. The PDS (SR) provides energy to the motor to
enable it to resist external forces. This description of an operational stop function is based on
implementation by means of a PDS (SR) without external (i.e. mechanical) brakes.
- SLP(Safely Limited Position): This function prevents the motor shaft (or mover, when a
linear motor is used) from exceeding the specified position limit(s).

- SLS(Safely Limited Speed): This function prevents the motor from exceeding the specified
speed limit.

- SLA(Safely-Limited Acceleration): This function prevents the motor from exceeding the
specified acceleration and/or deceleration limit.

- SLI(Safely Limited Increment): This function prevents the motor shaft from exceeding the
specified limit of position increment within specified time.

- SLT(Safely Limited Torque): This function prevents the motor from exceeding the specified
torque limit (or force limit when a linear motor is used).

- RPL(Robot Position Limit): This function prevents the robot arm’s TCP (tool center point) or
body frame from exceeding the specified spatial region.

- TSL(TCP Speed Limit): This function prevents the robot arm’s TCP speed from exceeding
the specified speed.

- CBPL(Control Box Power Limit): This function prevents the Control Box’s power
consumption from exceeding the specified limit.

- EMS1(Emergency Stop1): This function activates the stop mode when the emergency stop
switch of the Teaching Pendant Unit is activated. The stop mode is the SF.2.

© RAINBOW ROBOTICS Inc. All rights reserved. 42

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

- EMS2(Emergency Stop2): This function activates the stop mode when the special I/O
ports of the Control Box are activated. Those ports are provided for users to connect their
own switch devices. The stop mode is the SF.2.

- PRS(Protective Stop): This function activates the stop mode when the special I/O ports of
the Control Box are activated. Those ports are provided for users to connect their own
protective devices. The stop mode is the SF.2.

- HSS(Hard Safeguard Stop): This function activates the stop mode when the special I/O
ports of the Control Box are activated. Those ports are provided for users to connect their
own protective devices. The stop mode is the SF.1.

- SSS(Soft Safeguard Stop): This function activates the stop mode when the special I/O
ports of the Control Box are activated. Those ports are provided for users to connect their
own protective devices. The stop mode is SF.3.

© RAINBOW ROBOTICS Inc. All rights reserved. 43

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.4 SAFETY DEVICE MOUNTING LOCATION

In addition to the basic emergency stop switch, the RB series can be equipped with
additional safety devices required by the system integrator through risk assessment.

The safety-dedicated contact terminal consists of 16 ports. This terminal is a redundancy

dedicated contact input terminal.

The additional ports can be equipped with 4 equipment. The robot is delivered with a default
configuration, which enables operation without any additional safety equipment.

When using without connecting to an external safety device, be sure to connect and use the
basic contact input as shown below.

Safety device port specifications are as follows.

© RAINBOW ROBOTICS Inc. All rights reserved. 44

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 EMO
This port is used when it is necessary to install an extra emergency stop switch through
risk assessment.
The emergency stop switch should be used as a product conforming to IEC 60947-5-5.
Emergency stops generated through EMO are designated as stop category 1.

 PRS
This port is used to connect one or more protective stop devices through risk assessment.
Protective stop devices must be used according to 5.3.8.3 of ISO 10218-2.
Protection stops occurring through PRS are designated as stop category 1.

 HSS
This port is used to connect one or more protective stop devices through risk assessment.
Protective stop devices must be used according to 5.3.8.3 of ISO 10218-2.
Protection stops occurring through HSS are designated as stop category 0.

 SSS
This port is used to connect one or more protective stop devices through risk assessment.
Protective stop devices must be used according to 5.3.8.3 of ISO 10218-2.
Protective stops that occur through SSS are designated as stop category 2.

© RAINBOW ROBOTICS Inc. All rights reserved. 45

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.5 EMERGENCY STOP SWITCH

The collaborative robot RB Series allows the operator to use the emergency stop switch to
stop the robot in anticipation of an emergency situation.

In the event of an emergency, the robot must be stopped immediately by pressing the
emergency stop switch on the top of the pendant.

Caution
Caution:

1) The emergency stop switch is designated as stop category 1.

2) The emergency stop function cancels by turning the emergency stop switch
clockwise.
3) If an additional emergency stop switch is needed, it can be used with the control box.
4) Emergency stop should not be used as a risk reduction method, but should be used
as a secondary protective device.

© RAINBOW ROBOTICS Inc. All rights reserved. 46

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.6 OPERATION MODE

The operation mode of the collaborative robot RB Series is composed as follows. When
entering the automatic mode, you must access it through a password.

Initialize Mode
[Set-up]

Auto Mode Manual Mode

[Play] [Make]

Caution
Caution:

1) The password for entering automatic mode is not set at the time of shipment. Set
up and use a password so that no one else can access it.
2) Before entering Auto Mode, the user must remove the dangerous situation and
check the status of the emergency stop switch and the protective stop device.

© RAINBOW ROBOTICS Inc. All rights reserved. 47

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3) In all case, the user must correctly grasp the installation state of the robot and
complete the setting before operating the robot.

 Initialize Mode [Set-up]

Peripheral device settings or robot status can be set before the robot moves.Overall settings
for robot motion such as workspace, TCP offset, and payload can be made.
At this time, power is not supplied to the motor. The motor can be powered through the
activation action.

 Auto Mode [Play]

The robot is in a state where only predefined tasks are performed without user intervention.
At this time, power is supplied to the motor.
The motion of the robot programmed through the simulation function can be verified
through simulation, and the robot can be driven by the verified program by converting it to a
real state.
At this time, the robot is performing pre-set safety functions, and the user can monitor the
status of the robot and peripheral devices through the Play window.

 Manual Mode [Make]

It is a state in which the robot is operated through direct control of the user. At this time,
power is supplied to the motor.
Direct teaching, program creation and modification, and manual operation of peripheral
devices can be performed, and the robot can only be operated at the moment the user
operates the tablet through the safe speed slide bar.
When you release your hand from the safety slide, the robot will immediately stop moving.

Cautions
Caution:

1) For manual operation, the safety slide function must be set.

2) At initial shipment, the safety slide function is deactivated.
3) In addition, when using a 3-position enabling device, it must be used according to
5.8.3 of ISO 10218-1.

© RAINBOW ROBOTICS Inc. All rights reserved. 48

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.7 OPERATING ENVIRONMENT

In order to keep the robot in a safe state for a long time, it must be used in the following
conditions/environment.

Maximum allowable operating temperature 50˚C

Maximum permissible storage temperature 60 ˚C

Minimum allowable operating temperature 0˚C

Minimum permissible storage temperature -5˚C

Maximum permissible humidity 80%

Minimum permissible humidity 20%

© RAINBOW ROBOTICS Inc. All rights reserved. 49

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.8 MAINTENANCE OF SAFETY FUNCTIONS

In order to keep the robot in a safe state for a long time, it is necessary to continuously
check the safety functions.

Safety inspection managers need periodic inspections for the following items. If during the
inspection you find a problem that cannot be solved by yourself, contact the manufacturer.

Inspection
Check List Period
target
Check whether the emergency
Safety
stop switch mounted on the 1 Month
Function
pendant is working properly.
Pendant
Check the condition of the
Cable connection cable between the 1 Month
pendant and the control box.

Check whether the EMO port to

which the safety device is 1 Month
connected is working properly.

Check whether the PRS port to

which the safety device is 1 Month
connected is working properly.
Interface
Check whether the HSS port to
which the safety device is 1 Month
connected is working properly.

Control Box Check whether the SSS port to

which the safety device is 1 Month
connected is working properly.

Check the normal output of 24V

voltage connecting the safety 1 Month
Power device.
Check if the 24V fuse is inserted
1 Month
normally.
Check the condition of the
connection cable between the
Cable 1 Month
safety device and the control
box.

© RAINBOW ROBOTICS Inc. All rights reserved. 50

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Safety Function Board Specification

Inside the control box, there is a built-in safety function board to drive the RB series.

The information of the LED indicating the operation status of the board is as follows.

48V LED

EMO Status LED

12V LED

Status LED Safety Status LED

A, B : Communication Status
C, D : SFU-MCU 1 Status
E, F : SFU-MCU 2 Status
OS : Watch-dog

Connector information connected to the board is as follows.

Power Switch Hand Robot Arm Main Power SMPS

CLCD Controller Connector Input Manager

© RAINBOW ROBOTICS Inc. All rights reserved. 51

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3.9 APPLIED STANDARDS

Standard Title

Functional safety of
electrical/electronic/programmable electronic
IEC 61508-1:2010
safety-related systems – Part 1: General
requirements
Functional safety of
electrical/electronic/programmable electronic
IEC 61508-2:2010 safety-related systems – Part 2: Requirements
for electrical/electronic/programmable
electronic safetyrelated systems
Functional safety of
electrical/electronic/programmable electronic
IEC 61508-3:2010
safety-related systems – Part 3: Software
requirements

Functional safety of
electrical/electronic/programmable electronic
IEC 61508-4:2010
safety-related systems – Part 4: Definitions and
abbreviations

Functional safety of
electrical/electronic/programmable electronic
IEC 61508-5:2010 safety-related system – Part 5: Examples of
methods for the determination of safety
integrity levels

Functional safety of
electrical/electronic/programmable electronic
IEC 61508-6:2010
safety-related systems – Part 6: Guidelines on
the application of IEC 61508-2 and IEC 61508-3

Functional safety of
electrical/electronic/programmable electronic
IEC 61508-7:2010
safety-related systems – Part 7: Overview of
techniques and measures

Safety of machinery – Electrical equipment of

IEC 60204-1:2016
machines – Part 1: General requirements

Electromagnetic compatibility (EMC) – Part 6-1:

Generic standards – Immunity standard for
IEC 61000-6-1: 2016
residential, commercial and light-industrial
environments

© RAINBOW ROBOTICS Inc. All rights reserved. 52

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Electromagnetic compatibility (EMC) – Part 6-2:

IEC 61000-6-2: 2016 Generic standards – Immunity standard for
industrial environments

Electromagnetic compatibility (EMC) – Part 6-7:

Generic standards – Immunity requirements for
IEC 61000-6-7: 2014 equipment intended to perform functions in a
safety-related system (functional safety) in
industrial locations

Electrical equipment for measurement, control

and laboratory use – EMC requirements – Part
3-1: Immunity requirements for safety-related
IEC 61326-3-1: 2017
systems and for equipment intended to perform
safety-related functions (functional safety) –
General industrial applications

Adjustable speed electrical power drive systems

IEC 61800-5-1: 2007 – Part 5-1: Safety requirements –Electrical,
thermal and energy

Adjustable speed electrical power drive systems

IEC 61800-5-2: 2016
– Part 5-2: Safety requirements – Functional

Safety of machinery – Functional safety of

IEC 62061:2005 safety-related electrical, electronic and
programmable electronic control systems

Robots and robotic devices — Collaborative

ISO/TS 15066: 2016
robots

Robots and robotic devices — Safety

ISO 10218-1: 2011 requirements for industrial robots — Part 1:
Robots

Robots and robotic devices — Safety

requirements for industrial robots — Part 2:
ISO 10218-2: 2011
Robot
systems and integration

Safety of machinery — General principles for

ISO 12100:2010
design — Risk assessment and risk reduction

Safety of machinery — Safety-related parts of

ISO 13849-1: 2015 control systems — Part 1: General principles for
design

Safety of machinery — Safety-related parts of

ISO 13849-2: 2012
control systems — Part 2: Validation

© RAINBOW ROBOTICS Inc. All rights reserved. 53

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 4. INSTALLATION
4.1 INSTALLATION PRECAUTION
Robot installers must install and operate the robots following the guidelines of ISO 12100
and ISO 10218-2, and installers must comply with the relevant requirements of international
standards such as ISO / TS 15066 and national laws. The manufacturer is not liable for any
accidents caused by risks that do not comply with the requirements based on international
standards, risks that do not comply with the requirements based on national laws and
regulations or those caused by failure to review the risk assessment in the previous chapter.

© RAINBOW ROBOTICS Inc. All rights reserved. 54

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.2 INSTALLATION LOCATION

The manufacturer recommends the following conditions are met for the installation location.

 Building with seismic design

 No leakage
 No flammable or explosive material
 Constant temperature and humidity
 Limited dust inflow

Caution
Caution:

1) If the system is not installed in a location that matches the recommendations, the
performance and lifespan of the robot may be reduced.

© RAINBOW ROBOTICS Inc. All rights reserved. 55

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.3 EXAMPLES OF INSTALLATION

The robot arm can be installed on a flat horizontal surface (e.g. table), a wall, the ceiling, or
any other angle. It can also be installed on the fixed post. Fixed post is not included in the
product. However, the user must set the angle of installation in the system-setup when
installing on a surface that is not a flat horizontal surface.

[ Installation on the horizontal surface ]

[ Installation on the fixed post ]

© RAINBOW ROBOTICS Inc. All rights reserved. 56

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.4 MOUNTING THE ROBOT

It is recommended to use four M8 30mm bolts for robot arm installation.

Warning
Warning:

1) When attaching the robot, fix it firmly so that the bolts do not come loose.
2) Install the robot on a sturdy base that can withstand the combined weight of the
robot and the load generated by the robot.
3) Make sure that the contacting surface on the robot arm is completely in contact
with the surface that it is mounted upon.
4) Never disassemble the bolts that are assembled in the robot. Ensure that all bolts
are securely fastened before operating the robot arm.
5) If the product is used with the bolts disassembled, or if a bracket etc. is installed
incorrectly, the product may become damaged, or the safety of the user may be
seriously affected.

© RAINBOW ROBOTICS Inc. All rights reserved. 57

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.5 TOOL CONNECTION

Use four M6 bolts to secure the tool to the Tool flange.

 Tools and M6 bolts are not included in the product.

 The connection methods may vary between tools. Contact the tool manufacturer for
further details.

 After fixing the tool to the Tool flange, connect the necessary cables to the I/O ports
on either the tool I/O or the Control box I/O.

 The tool connector uses the Samwoo SW-10W-12 (P) connector.

© RAINBOW ROBOTICS Inc. All rights reserved. 58

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 The tool I/O has a 12-pin connector.

 Specifications of the ports located on the tool flange are divided into the non-E and
E versions as follows.

[Robot]
Pin Signal Signal
Port Layout
No. (non-E version) (E version)
1 Digital output A Digital output A

SW-10W-12(R) 2 Digital output B Digital output B

3 0/12/24 VCC 0/12/24 VCC

4 Ground Ground
5 Digital input A Digital input A

Tool 6 Digital input B Digital input B

I/O 7 Analog input A Digital input C

8 Analog input B Digital input D

9 RS485+ RS485+
10 RS485- RS485-
11 Common ground Digital input E
12 Common ground Digital input F

© RAINBOW ROBOTICS Inc. All rights reserved. 59

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 We provide outside cables that can be connected to the tool flange. The
specifications are listed as follows.
[Outside cable]
Pin
Port Layout Color (thickness)
No.
1 Brown (AWG22)

SW-10W-12(P) 2 Blue (AWG22)

3 Red (AWG22)
4 Black (AWG22)
5 White (AWG26)
Tool 6 Blue (AWG26)
outside
cable 7 White (AWG26)

8 Yellow (AWG26)
1 9
2 10 8
9 Gray (AWG26)
3 11 12 7
4 5 6
10 Purple (AWG26)
11 Black (AWG26)
12 Green (AWG26)

 The internal power supply can be set to 0V, 12V, or 24V on the I/O tab of the GUI.

- Min Nominal Max Unit

24V mode - 24 - V
12V mode - 12 - V
Current Supply* - - 2000 mA

 The tool connector uses NPN (‘sinking’) for the digital output. When the digital
output is enabled, the corresponding port is connected to GND (ground). When the
output is deactivated, the corresponding port becomes ‘open’ (open-collector /
open-drain). The electrical specifications are as follows.

- Min Nominal Max Unit

Voltage when opened 0 - 24 V
Current through GND 0 - 2000 mA

© RAINBOW ROBOTICS Inc. All rights reserved. 60

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 The image shown below illustrates how to turn on/off a load with 12V or 24V. The
voltage level can be specified in the Tool Out (TO0) block.

※ It is strongly recommended to use a diode to protect the tool using an inductive load.

 The tools digital inputs use PNP and pull-down resistors. Therefore, when the input
port is not connected (floating), the corresponding input port is read as low (0).
Electrical specifications are as follows.

- Min Nominal Max Unit

Input Voltage 0 - 24 V
Logic Low-
- - 9 V
Voltage
Logic High-
10 - - V
Voltage

 The figure shown below illustrates how to use the digital input for a simple switch.

© RAINBOW ROBOTICS Inc. All rights reserved. 61

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 The tool analog input measures the voltage in a non-differential manner. The
measurement categories are as follows.

- Min Nominal Max Unit

Input Voltage 0 - 10 V

Resolution - 12 - bit

 The figure below illustrates how to connect an analog sensor with non-differential
voltage output characteristics to the Tool flange.

 The figure below shows how to connect an analog sensor with differential voltage
output characteristics to the tool flange. Connecting the negative output of the
sensor to GND (ground) works the same as the non-differential light sensor.

Caution
Caution:

1) For further details regarding technical specification and wire connection, refer to
Appendix D.
2) The cross-sectional view related to the tool flange is illustrated in Appendix C.

© RAINBOW ROBOTICS Inc. All rights reserved. 62

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 The tool flange supports RS485 serial communication and supports the following
serial communication standard.

Baud-Rate 9600, 19200, 38400, 57600, 115200, 1M, 2M.

Stop Bit 1,2

Parity None, Even, Odd

© RAINBOW ROBOTICS Inc. All rights reserved. 63

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.6 CABLE CONNECTION

The cable connection for stand-type control box is described as follows.

 Connecting the robot arm to the robot control box using the robot arm cable.
Connect the female connector to the robot arm and the male connector to the
control box. Be sure to check whether pins in the connector are bent or not.

[ Connecting Part for Robot Arm cable ]

 Connecting the power cable to robot control box.

Connect the power cable to the power terminal as shown in the figure below.

[ Connecting Part for AC power cable ]

The specifications of the power system is as follows.

Input Voltage 100 ~ 240 VAC

Input Frequency 50 ~ 60 Hz

© RAINBOW ROBOTICS Inc. All rights reserved. 64

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Caution
Caution:

1) Do not unplug the robot cable, power cable, or teaching pendant while the robot is
activated.
2) For using AC power, the peripherals should share a common ground.

© RAINBOW ROBOTICS Inc. All rights reserved. 65

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.7 ROBOT CONTROL BOX I/O OVERVIEW

To connect other external devices to the robot control box, make sure to connect the I/O
from the control box to the corresponding device. The I/O of the control box is very flexible,
so it can be used to connect with various equipment such as relays, PLCs, and emergency
stop buttons. The layout of the electrical interface inside the robot control box is as follows.

The specifications of the power and digital I / O of the control box are as follows. All digital
I/O are compliant with the IEC 61131-2 standard.

※ IEC 61131-2: IEC standard for programmable controllers

Port Parameter Min Type Max Unit

Digital Output
[ Dox ] Current 0 - 1 A
[ Dox ] Voltage Drop 0 - 0.5 V
[ Dox ] Current Leak 0 - 0.1 mA
[ Dox ] Type - PNP Type
[ Dox ] IEC 61131-2 - 1A - Type
Digital Input
[ Dix ] Voltage -3 - 30 V
[ Dix ] OFF Range -3 - 5 V
[ Dix ] ON Range 11 - 30 V
[ Dix ] Current(11-30V) 2 - 15 mA
[ Dix ] Type PNP+ Type
[ Dix ] IEC 61131-2 - 1 - Type

Caution
Caution:

1) When tightening the I/O wiring, make sure to turn off the power to the control box in
advance. Any damage to the product caused by the user's carelessness (24V power
shorts, incorrect wiring, etc.) is not covered by the product warranty.

© RAINBOW ROBOTICS Inc. All rights reserved. 66

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.8 SAFETY INPUT CONFIGURATION

For the safety of users, all safety-related I/O must be configured with multiple backups.
Safety devices and equipment must be installed according to the instructions in Chapter 2-
Safety and Chapter 3- Installation. Safety protection stop is included in safety input.
Emergency stop input is for an emergency deactivation of the robot, and safety protection
input is for all forms of safety protection of the robot.

Danger
Danger:

1) Never connect a safety signal to a PLC other than a safety PLC. Failure to follow
these warnings could result in unsafe operation, resulting in serious injury or
casualty. The safety signal and general I/O signal must be separated.

Warning
Warning:

1) Inputs and outputs of all forms of safety features have redundancies. It is necessary
to isolate the channel so that the safety function is not activated due to signal
failure. The safety functionality must be confirmed before installing the robot. The
safety functionality should also be checked periodically for abnormalities.

 Initial Safety Configuration

The robot will be shipped with the initial safety configuration set to default, so that
the user can use it without configuring it additionally. The initial safety configuration
is as follows.

© RAINBOW ROBOTICS Inc. All rights reserved. 67

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Safety protection stop and automatic restart

An example of a safety protection device would be a door switch that stops the robot
when the door is opened. The figure shows how to configure these features:

 Enabling Device Input (Option)

Connect the active device input interface using the 3-position switch. When the
position activation switch is in the operating position (middle position), the robot
starts moving. If the 3-position activation switch is pressed or released, the switch is
in the inoperative position and the robot arm will not move. Rainbow Robotics does
not provide an Enabling device. An Enabling device is available as an option if the
user requires. To configure the feature, refer to the following configuration:

© RAINBOW ROBOTICS Inc. All rights reserved. 68

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.9 GENERAL PURPOSE DIGITAL I/O CONFIGURATION

All Digital I/O can be used as general purpose digital I/O. To use other external equipment
with the robot, connect the I/O from the robot control box with the corresponding equipment.
The universal digital I/O can be used to configure devices such as relays or PLC systems. In
this configuration, the output is always LOW unless the program is running. The following
subsections are examples.

 Electric load control with digital output

The figure below shows a way to control electric load by using the digital output.

 Control of digital input with a button

The figure below shows a simple way of connecting a button to the digital input.

© RAINBOW ROBOTICS Inc. All rights reserved. 69

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Communication with other system or PLC

If another system provides PNP and uses a common ground, the digital I/O can be
configured to communicate with the other system. Its connection is shown in the
figure below.

Warning
Warning:

1) For the details in the technical specifications and wire connection, refer to Appendix D.

© RAINBOW ROBOTICS Inc. All rights reserved. 70

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4.10 GENERAL PURPOSE ANALOG I/O CONFIGURATION

The following methods are recommended for high reliability.

 Use analog GND closest to I/O.

 Equipment and control box use the same GND. Analog I/O is not isolated from the
robot control box.
 Use shielded or twisted-pair cable. Connect to the GND shield on the Power (J12)
terminal.

Port Parameter Min Type Max Unit

Voltage mode Input

AIx - AG Voltage 0 - 10 V

AIx - AG Resolution - 16 - Bit

Voltage mode Output

AOx – AG Voltage 0 - 10 V

AOx – AG Resolution - 16 - Bit

 Analog output
The analog output can be used to control the speed of conveyor. The figure below
illustrates a simple demonstration.

© RAINBOW ROBOTICS Inc. All rights reserved. 71

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Analog input
The figure shown below illustrates a simple connection to an analog sensor. The
output value of the analog sensor can be used by the control box as analog input.

 LCD Status Display

1. Display Box (1): Displays information about system status

: Please Wait (the main PC in the control box is booting up)
: Normal Operation (the main PC in the control box is ready)
2. Display Box (2): Displays information about robot operation and status.
3. Action Icon: Definition : lock ( ) or release( ) state, play( ) or stop( ) state,
crash( ) or safe( ) state.
4. Power Consumption: Indicates the total power consumption in watts (W).
5. System Version Information: System version information.

© RAINBOW ROBOTICS Inc. All rights reserved. 72

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 5. GET STARTED

5.1 CONTROL BOX ON/OFF
Procedure for turning control box On/Off is as follows

 Stand-type control box On/Off

Press the AC power switch at the bottom of the control box to apply AC power.
Press the main power switch at the top of the control box to turn on the main
power.
"Please Wait" is displayed in the LCD screen of the control box. This indicates that
the control box is being booted.
When the control box is changed to the enabled state, the LCD message is
displayed as "Normal Operation".

To turn off the power, press the main power switch for a few seconds.

Caution
Caution:

1) Control box uses AC 100 to 240V single phase (50 to 60 Hz).

© RAINBOW ROBOTICS Inc. All rights reserved. 73

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

5.2 TEACHING PENDANT/PC ON/OFF

If the user uses the teaching pendant incorporated in Rainbow Robotics, the teaching
pendant and cover are provided. To turn on the teaching pendant, press the power button on
the top left corner.

 For stand-type control box

Caution
Caution:

1) Make sure that the teaching pendant is connected to the control box before running
the application installed in the Rainbow Robotics. Do not perform unnecessary
operations while the system is booting, as it may cause problems with the system.

© RAINBOW ROBOTICS Inc. All rights reserved. 74

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 6. SOFTWARE OVERVIEW

6.1 UI STRUCTURE
The UI (User Interface) program is divided into three screens as follows. Each section allows
the user to enter necessary steps.

© RAINBOW ROBOTICS Inc. All rights reserved. 75

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6.2 STARTUP SCREEN DISPLAY

 Intro
The image below shows the Startup screen. The Startup screen will occur while the
application loading is processing.

 Login (Factory-Default login password: 0000)

To set up the password or to enable automatic login, go to the "Setup-System-
Password" menu.

© RAINBOW ROBOTICS Inc. All rights reserved. 76

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6.3 MAIN SCREEN DISPLAY

The UI has three main menus.

 Make: for programming robot motion and tasks.

 Play: for running motion and tasks pre-programmed in the Make menu.
 Setup: for setting up parameters.

In the main screen, users can create programs for the robot (Make), move the robot (Play),
or set settings (Setup) through each relevant menu.

© RAINBOW ROBOTICS Inc. All rights reserved. 77

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Power Off
When the power button (bottom right) is pressed, the power off dialog will pop up. If
the user presses the UI Shutdown button, the application closes. If the robot is
activated and Tablet is connected to the tablet PC, the power of the robot will stay
turned off as well.

© RAINBOW ROBOTICS Inc. All rights reserved. 78

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6.4 MAKE
 Make
The Make screen is the interactive menu to program the robot. Programming the
collaborative robot will also be referred to as “teaching.” Teaching the robot requires
the use of the icons at the top of the screen. Moving the robot requires the use of
icons at the right. Moving the robot by one of these icons will also be referred to as
“jogging.” Editing the teaching program requires the use of icons at the left.

 Left Icons: Copy & Paste, Save, Delete, Add Comment, etc.
 Right Icons: Jog/Jogging, Move Left/Right/Forward/Backward, etc.
 Middle Icons: Program Functions, etc.
 Bottom Icons: Save/Load, Play, Motion Speed Adjustment, etc.

※ For more details about icons and configuration, refer to Chapter 7.

※ In the Make menu, the robot will not move unless a button is pressed and held. This
feature can be removed in Setup-Interface.

© RAINBOW ROBOTICS Inc. All rights reserved. 79

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6.5 PLAY
 Play
The Play screen allows the user to load and run a teaching program. The Play screen
only allows for physical movement of the robot (unlike Make, that allows for
simulation). A program loaded into the Play screen will repeat the number of times
specified in Setup-Interface. The operating time at the bottom left of the screen
shows the elapsed time.

※ Refer to Chapter 8 for more details about Play mode.

© RAINBOW ROBOTICS Inc. All rights reserved. 80

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6.6 SETUP
 Setup

The Setup screen allows the user to see/change the robot’s default values, such as
sensitivity for collision detection, configuration of the robot installation, range of
workspace, tool settings, system log, I/O, coordinate system, etc.

※ Refer to Chapter 9 for more details about Setup.

© RAINBOW ROBOTICS Inc. All rights reserved. 81

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 7. PROGRAMMING GUIDE

7.1 ICONS AND ACTION SCREEN
 Description of components in Make screen display

No. Description
① Show the program list in tree form.

Shows the angle of each joint of the robot arm and the Cartesian
②
coordinate position of the TCP.

TCP Jog: can change the Cartesian coordinate position. (base/tool/user

③ defined coordinate system selectable)
Joint: Jog: can change the angle of each joint.

Button to switch to Simulation or Real mode.

④
※ Real mode must be selected to drive the real robot arm.

⑤ Can import saved projects and create new projects.

⑥ Starts or stops the program and has the Motion speed adjustment bar.
⑦ Various editing tools are located, such as Copy/Paste/Annotations.
Can adjust the motion speed of the robot arm (even when the robot is
running).
⑧
Various program functions (command/action/etc.) are located. If you
click the arrow at the right, more functions will be shown.
⑨ Determines Jog method – either Smooth mode or Tick mode.

© RAINBOW ROBOTICS Inc. All rights reserved. 82

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

※ Teaching: programming RB’s motion by means of moving the robot by hand

※ TCP (Tool Center Point): The point defined for the tool center point within the robot’s base
coordinate system. It may also be the origin of the end-effector.

[ Basic View Mode ]

[ Icon Extended View Mode ]

© RAINBOW ROBOTICS Inc. All rights reserved. 83

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ Program-only Mode ]

© RAINBOW ROBOTICS Inc. All rights reserved. 84

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Description of icons used in ‘teaching’ (upper section in Make page)

※ A detailed description of each feature/ function is explained in a later chapter

Icon Description

This icon sets the motion property of the robot. The core
algorithms for seven types of motion properties are pre-
programmed.
In MoveJ, each joint moves independently to reach a given
target joint angle in a given time.
In MoveL, the TCP linearly moves to reach a given target
position and configuration in a given time. In this motion,
each joint angle to move is calculated by built-in
algorithms. MoveJB, MoveLB, MovePB, MoveJL, and
MoveITPL are advanced motions using MoveJ or MoveL.

This icon is a sub item of Move. It sets the target values of

motion.
In MoveJ and MoveJB, a desired joint angle value can be
set.
In MoveL, MoveLB, MovePB, MoveJL, and MoveITPL, a
desired TCP position (x,y,z) and configuration (Rx,Ry,Rz)
can be set in Cartesian coordinates.

This icon enables a user to design a circular motion. This

motion can be generated as an arc passing through three
points given by a user, or a circle defined by the center and
the axis of rotation.

This icon enables the robot to pause shortly. The robot will
pause for a given time set by a user. With a conditional
statement like IF, a user can have the robot pause or
terminate pause when a condition is true.

This icon creates a conditional statement. A user can

generate separate motion program branches depending on
conditions using IF, Else IF, and Else.

© RAINBOW ROBOTICS Inc. All rights reserved. 85

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This icon creates another type of conditional statement.

For the Switch statement, a user defines each case.

This icon repeats a specific section in the motion program.

A user can set a specific number of times to repeat. A user
can also repeat indefinitely until a condition becomes false,
or repeat indefinitely until a condition becomes true.

This icon will force quit a loop. It is used as a sub item of

Repeat.

This icon ends the program. It is typically used with a

conditional statement to force an end to the motion
program in a situation.

This icon enables variables to be declared, consisting of

four types: variable, array, point, and string. The variable
stores a single number, array stores multiple numbers,
point stores posture information, and string stores words.

This icon enables a user to program manually. It is typically

used when a user-specific calculation and substitution are
needed.

This icon adds a comment or memo to the program.

© RAINBOW ROBOTICS Inc. All rights reserved. 86

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This icon bundles the commands of the created program

into the sub items of the folder. Each specific name is
given based on folder function to help management.

This icon imports other users’ programs and insert them to

the current program. The imported programs cannot be
edited in the current program.

This icon runs a specific command or program only for one

time at the beginning of a program.

This icon runs a command or program in parallel with the

main program. Note that motion commands cannot be
used in the thread.

This icon generates a message pop-up during operation. It

can be used when a situation requires a confirmation
during program execution.

This icon enables the current value of variables (assigned

by ‘Assign’ action) or parameters to be checked.
Information is displayed within a pop-up.

This icon temporarily changes the values of parameters

located in Setup menu at the current program.

© RAINBOW ROBOTICS Inc. All rights reserved. 87

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This icon controls the Digital output ports located in the

control box. Select a port and define its output signal (high,
low, or bypass).

This icon is used to generate voltage through an Analog

output port located in the control box. Each Analog output
can generate a voltage in a range between 0V to 10V.

This icon specifise two digital outputs located in Tool

flange. The digital output can be setup to generate 0V, 12V,
or 24V.

This icon is used when a gripper manufactured in third-

party company is attached at the robot. Built-in functions
enable the gripper to be quickly installed and used.

This icon sends data to the port located in the Tool flange
or Control box via RS485/RS232. Refer to Setup-serial for
protocols.

This icon is used for socket communication. A maximum

of five connections are allowed.

This feature is for the ModBus Client function. This icon

allows a user to connect to another ModBus server. The
program can access to a specific IP address in order to
request and receive data.
The protocol of the ModBus Server is provided separately
in the user manual appendix.

© RAINBOW ROBOTICS Inc. All rights reserved. 88

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This icon enables the robot to operate as a conveyor

system. When the moving speed and direction of the
conveyor is defined, the robot follows the conveyor. MoveL,
MoveLB, MovePB, MoveITPL and Circle can be
programmed on top of the conveyor’s motion.

This icon sets up a task after the program ends. Note that
motion commands cannot be included in here.

This function inserts another pre-made program file

(teaching file) into the current document in a modifiable
form.
It is similar to Sub.P, but files added using Sub.P are not
modifiable. However, the programs added using the
Template function can be modified in the current program.

This feature enables variables (single variables, arrays,

point variables, etc.) to be declared and observed in real
time while the program is running. Variables declared in the
Monitor function can be viewed by clicking the monitor icon
on the right side of the Make / Play page.

This feature enables repetitive actions to be defined. By

defining information about the space in which to perform
the repetitive actions, as well as defining the repetitive
actions to be performed at each location, the robot will
perform the same action at every point. Palletizing can be
implemented through this function.

This feature stores certain posture/position information as

a variable and then refers them to (calling) another motion
function. However, this function itself does not move to
that position.

This feature can jump program flows to a specific

location/line. It can return to the starting position or control
program flow discontinuously with a specific line number.

© RAINBOW ROBOTICS Inc. All rights reserved. 89

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function re-plays recorded motion through motion

recording function. Motion recorded through direct
instruction or et cetera can be replayed with J or L type
through this function.

This is a dedicated feature for weaving operation. Actions

such as Move L or Circle set below the weaving action are
combined with the weaving options set.

This is a feature for force control. The user can select the
desired direction of force action and coordinate system.
The actions included in the lower force control are
automatically given the force control function.

This feature enables setting macro functions for arc-

welding. It is a dedicated function that binds functions
which can be implemented through the normal D.out or
Wait function so that they can be used quickly in macro
form. Setting up the arc welder is done in device on the
Setup page.

The TCP settings feature temporarily changes TCP values

by recalling pre-saved TCP values during program
execution. The user can save TCP values in advance from
the tool list on the Setup page.

Manual direct-teaching is the feature to pause operation

and use direct-teaching while the program is running.

The G code feature is a feature that you can use if you have
placed the G code file in the specified folder. The robot will
implement the path to that G code.

© RAINBOW ROBOTICS Inc. All rights reserved. 90

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function is built-in so that other products such as HMI

and PLC can be easily used. Users can select the product
to be used and select detailed functions for using the
selected product.

This function is available when adding an I/O expansion

module. It is possible to set the digital/analog output of the
I/O expansion module. The setup method is the same as
the existing D. output and An. output.

The user input function pauses during program execution

to enable users to change the value of a variable/
arrangement/point/character/global/ROM by entering it.
The value can be changed, ignored, or skipped, depending
on your situation.

This function is intended for use in welding applications.

Detects the movement of the base material and enables
welding to be carried out by reflecting the direction of
movement and movement.

This function moves the robot to ‘Project home posture’ or

‘Joint-zero posture’. The movement type can be selected
from either MoveJ and MoveL.

This function enables the digital welding machine to be

used. After selecting the brand digital welding machine to
be used, the user can easily use the digital welding
machine by selecting the mode and options.

Unlike the general/non-stop thread that runs concurrently

with the program, This feature calls the event general/non-
stop thread that is executed when called from the main
program.

© RAINBOW ROBOTICS Inc. All rights reserved. 91

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function is used to change the main program to

another project.

This function operates the robot joint and the external axis
at the same time.

This function controls the external axis in addition to the

robot. Up to 6 can be added.

© RAINBOW ROBOTICS Inc. All rights reserved. 92

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Icon description for editing (Left side in Make screen)

Icon Description

This function recalls the currently open file.

※If you press the Reload button without pressing the Save
button, you will lose the last opened file, so be aware.

This function reverses your last action, usable up to 50

times.

This function reverses your last Undo, usable up to 50

times.

This function can raise the command one by one.

This function can lower the command one step at a time.

This annotation feature prevents the selected command

from running. Annotated commands exist in the program
but not executed.

This function is used to highlight (mark) the desired

program line, so important program lines can be underlined.

This function enables to search for other functions used

within the program, only searchable in English.

© RAINBOW ROBOTICS Inc. All rights reserved. 93

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This feature copies the selected command and moves the

copied command to a different location.

This feature pastes the section using the copy or cut

command onto the selected location.

This feature cuts the selected section. The section can be

placed in a different location with the paste command.

This feature deletes the selected section.

This feature changes edit mode to zoom mode.

© RAINBOW ROBOTICS Inc. All rights reserved. 94

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Jog and other utilities (Right side of Make screen)

Icon Description

This function moves TCP’s position relative to a global

coordinate system fixed to the base.

This function moves the position of TCP based on the local

coordinate system (tool coordinate system) fixed to TCP.

This function moves the position of TCP based on the user-

defined coordinate system (user coordinate).

This function allows each joint of the robot arm to move

separately.

This is a collection of special features which can view

status and set-up values such as I/O status information of
the system, user-coordinate setting information and
current/temperature information of the robot.

This is a collection of settings such as user coordinate

system settings, automatic TCP find, and other easy-to-use
settings with the jog mode. These settings can also be set
in the Setup menu by default.

This function is a window for real-time observation of the

values selected variables through the Monitor function. In
addition to the selected variables, system variables that
need to be checked frequently are also displayed.

This function allows the user to select the UI mode. Users

can select the UI mode based on their level and
environment.

© RAINBOW ROBOTICS Inc. All rights reserved. 95

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 System function button

Icon Description

This icon is used to move to home screen & another page. It

is located in the top left.

This icon is used to power off the UI. When the tablet PC is
connected to the robot, the robot will also be turned off. It is
located in the bottom right.
Screen Lock function is included in here.

© RAINBOW ROBOTICS Inc. All rights reserved. 96

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.2 CREATE TEACHING ENVIRONMENT

Robot ‘teaching’ (programming) is available only in the Make screen. Open the Make screen
from the Play or Setup screen via the button located at the top of the UI. It is also
possible to move to the Make screen from the Home screen.

 Connect Tablet PC to Control Box

This icon is in the bottom left of each screen. The robot control box and tablet
PC must be connected before teaching. When this icon is pressed, the following
screen is displayed.

Press the “Connect” button to link the tablet PC to the robot control box.

 “Connect” button: Will connects the tablet PC to the robot control box.

Caution
Caution:

1) Make sure that the control box is turned on and that the emergency stop switch is
turned off. If the control box is not on, the indicator light beneath “Device Off” will
turn red.

© RAINBOW ROBOTICS Inc. All rights reserved. 97

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The figure below shows a display when the tablet PC and control box are being
connected.

“Network Connecting” flashes yellow when the tablet PC is trying to connect to the
control box.

“Network Connected” becomes blue when the table PC and control box are
connected properly. The “Control” button is also activated once more.

© RAINBOW ROBOTICS Inc. All rights reserved. 98

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

After “Network Connected”, press the “Control” button to activate the robot control
system.

● “Control” button: Will initialize the robot arm for operation.

During initialization, the mechanical joint brake is released. Unlocking the joints will
generate a clicking sound.

All indicators turn to blue when the robot is ready.

※ When “Robot Operation On” is still in red, follow the instructions contained within the
message pop-up.

© RAINBOW ROBOTICS Inc. All rights reserved. 99

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Create New Project

Press the “New” button at the bottom of the screen to create a new project under an
assigned file name.

The default name of a new project is “default”. Type in a name for the new project
and press the “Save” button in the dialog. Note that the new project is not created if
the “Save” button is not clicked.

© RAINBOW ROBOTICS Inc. All rights reserved. 100

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.3 TEACHING (PROGRAMMING)

 Ways to Move the Robot
 Direct-teaching: When a user manually rotates each joint to change the pose of
the robot.
 Jogging: When a user uses the jog buttons in the UI to move the robot.

 Direct-teaching

The ‘gravity compensation’ algorithm allows the robot to keep its pose when set by a
user. For ‘Direct-teaching’, a user must press and hold the mechanical button
located on the Tool flange. Pressing this button allows each joint to move freely.
The red circle in the diagram above indicates the location of the button.

Warning
Warning:

1) ‘Direct-teaching’ can be used only when the robot is initialized and started up.

2) The load value in ‘Setup-Tool’ should be set prior to using ‘Direct-teaching’ when a
tool is installed at the Tool flange. Without a proper value of the load, ‘Direct-
teaching’ may not work properly.

3) In ‘Setup-Interface’, the sensitivity of joint reaction can be adjusted.

4) Make sure that the robot is not moving before using ‘Direct-teaching’.

© RAINBOW ROBOTICS Inc. All rights reserved. 101

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Jogging

There are four modes of jogging.

Mode 1 TCP Movement in the Cartesian coordinate

system with respect to the base (global) frame.

Mode 2 TCP Movement in the Cartesian coordinate system

with respect to the tool (local) frame

Mode 3 TCP Movement in the Cartesian coordinate system

with respect to the user coordinate frame.

Mode 4 Angular joint movement.

© RAINBOW ROBOTICS Inc. All rights reserved. 102

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

There two ways to control jogging:

 Smooth: Use for continuous motion of the robot. When the ‘+’ or the ‘-‘ button
is pressed and held, the robot moves continuously until the button is
released.

 Tick: Use for discontinuous motion of the robot. The robot will move a
specific amount as defined by the user each button click.

※ The control method for jogging can be selected via a toggle button located in the
top right in the Make screen.

※ In ‘Setup-Interface’, a user can specify the amount of movement for each press of
the “Tick” button. Or it can be directly changed in the pop-up window as below.

Warning
Warning:

1) Make sure that there are no obstacles or people in the robot’s workspace before
using jogging.
2) It is highly recommended to use the ‘Safety Slider’ feature in ‘Setup-Interface’.
This feature is activated as a factory default.

© RAINBOW ROBOTICS Inc. All rights reserved. 103

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ Jog Mode 1: TCP jog w/ Global coordinate ]

[ Jog Mode 2: TCP jog w/ Local coordinate ]

© RAINBOW ROBOTICS Inc. All rights reserved. 104

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ Jog Mode 3: TCP jog w/ User coordinate ]

[ Jog Mode 4: Joint jog w/ joint coordinates ]

© RAINBOW ROBOTICS Inc. All rights reserved. 105

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Real Robot and Simulation Modes

Two Modes are available for testing the robot’s movement.

● Simulation Mode:
Enables the user to virtually move the robot arm on the UI screen without
moving the actual robot.
It is recommended to run simulation mode first for safety reasons before
teaching a new motion.
● Real Robot Mode:
Drives the real robot as displayed on the UI screen.

Warning
Warning:

1) Real Robot mode is only available when the robot is connected and activated.
2) Simulation mode only requires the provided tablet and the control box. It does not
require the robot arm.
3) When using Real Robot mode, make sure that the nearby environment is clear & safe
before operating, as the robot will move.

© RAINBOW ROBOTICS Inc. All rights reserved. 106

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Teaching Robot Movement

The basic robot teaching functions are Move and Point. Both icons are on
the top bar when using the Make screen.

 Move: Defines motion property. Generates a movement command for the

robot arm and requires points to be defined.
 Point: A sub-function of Move. Defines a destination position for each
movement.

After using the Move and Point functions in an empty program, the script field in the
UI will look as follows.

 motion property

 1st destination

 2nd destination

Details on each of the Move and Point functions are on the following pages below.

© RAINBOW ROBOTICS Inc. All rights reserved. 107

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Move Function

Move sets the robot arm's motion properties. The two primary types of movements
are Joint and Linear. These types are further broken down into commands, as
shown in the figure above.

① Joint Movement Commands

The Joint Movement Commands generate movement by setting the angular value
of each individual joint (in degrees).

▷ MoveJ (Move Joint) :

Sets each joint angle to the values contained within the target Point. Note: The
movement speeds for all joints are slowed relative to the joint that requires the
most movement time.

▷ MoveJB (Move Joint Blend) :

Starting from the initial arm configuration, the arm will move smoothly between
each Point without stopping by using the Move J method.

© RAINBOW ROBOTICS Inc. All rights reserved. 108

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

② Linear Movement Commands

The Linear Movement Commands generate movement by setting the position of
the TCP in the Cartesian coordinate system. These commands use Cartesian
coordinates (x,y,z coordinate values and rotations) as the target values for the
movement.

▷ MoveL (Move Linear) :

Moves the TCP linearly (using x, y, and z) from the current position to the
position contained within the target Point (in mm) and will also rotate the TCP
(using Rx, Ry, and Rz) based on the configuration contained within the target
Point (in degrees).

▷ MoveLB (Move Linear Blend) :

Starting from the initial arm configuration, the arm will move smoothly between
each Point without stopping by using the Move L method. This method will
generate an arc-shaped path.

For each Point, the user must specify a Blend Radius. This Blend Radius
determines how far away the TCP will be from the Point when moving along the
path.

If the Blend Radius is set to 0, the path will be the same as only using the Move
L method.

The Blend Radius has a maximum value, which is half of the distance between
the initial Point and the destination Point. This ensures that the arm will
maintain a blended movement.

Move LB has two modes, Constant and Intended.

● Constant mode maintains the first Point’s TCP configuration (Rx, Ry, and Rz)
during movement, only changing the tool’s position (x, y, and z) through the
movements.
● Intended mode changes both the configuration and position of the TCP as
the arm moves.

© RAINBOW ROBOTICS Inc. All rights reserved. 109

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ MovePB (Move Point Blend) :

MovePB is similar to MoveLB, but it is more universally available. For each

Point, the user can set the blend amount in either distance or percentage (%).
The speed can also be set separately for each point.

▷ MoveJL (Move J with Linear Input) :

Like MoveL, the Cartesian value of the target point is used as input. However,
instead of going straight to the point, it uses MoveJ's method. When the
Cartesian coordinate system input is received, it is converted into the target
joint angle through inverse kinematics and inputted again to MoveJ.

▷ MoveITPL (Move Interpolation) :

Starting from the starting point (the current position), move smoothly between
the points without any stops using the Move L method.

MoveLB or PB blends across (blend) each waypoint, but MoveITPL moves

along the trajectory exactly past each waypoint, so there is no separate blend
setting.

MoveITPL has two modes. Constant mode is to move the tool orientation while
maintaining the starting point value. Intended mode is to change the orientation
of each tool.

The speed can be set separately for each intermediate waypoint.

© RAINBOW ROBOTICS Inc. All rights reserved. 110

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Difference between MoveJ and MoveL

MoveJ does not consider the movement trajectory of the terminal (TCP). It is an
operation that only uses the joint angle information of the starting point and the joint
angle of the target point. The driving speed of other joints is adjusted to the joints
that require the most driving time.

MoveL is a mode that uses inverse kinematics to move the trajectory of the terminal
(TCP) linearly from the starting point to the target point. 6 Cartesian coordinate
values (x, y, z, Rx, Ry, Rz) are the inputs for the target point value.

© RAINBOW ROBOTICS Inc. All rights reserved. 111

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Difference between MoveL, MoveLB/PB, and MoveITPL

MoveL moves in a straight, linear path between the start and destination points. The
arm will arrive at each sequential arrival Point, stop, and then continue to the next
Point.

MoveLB/PB starts at the initial Point, uses each intermediate Point as a waypoint,
and then stops at the final Point. The arm will not stop at the specified waypoints,
but instead it will arc around each point according to the blend distance, and then
continue without stopping.

MoveITPL, the points other than the arrival point move to the waypoint, creating a
trajectory that passes exactly through the waypoint. The trajectory is created
without stopping and a separate speed setting is possible for each waypoint.

© RAINBOW ROBOTICS Inc. All rights reserved. 112

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) The five linear motion commands (MoveL, MoveLB, MovePB, MoveJL, MoveITPL)
move the robot using inverse kinematics calculations. Therefore, movement may be
limited in singularity positions where inverse kinematics calculations are not
possible.

2) Certain joints may move faster or be restricted in motion while in the dead zone of
the robot. For more information about dead zones, refer to Section 1.7.

© RAINBOW ROBOTICS Inc. All rights reserved. 113

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Changing Move Function Commands

When the Move Function is initially used in a program, the program tree will be
created as shown below. By default, the Move function is set to MoveJ.

Click MoveJ in order to change the Move command type. A pop-up will appear as
shown below.

Select the desired movement type and click the “Close” button to change movement
type.

© RAINBOW ROBOTICS Inc. All rights reserved. 114

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

MoveJ, MoveJB

The arm moves to the joint angle configuration contained within

each Point. Each angle value is relative to the base position.

※ Since the robot arm consists of six joints, the MoveJ and
MoveJB functions will move all six joints based on the
configuration contained within each Point.

MoveL, MoveLB, MovePB, MoveJL, MoveITPL

The arm moves relative to or directly to a target TCP position

contained within each Point. Each Point determines a target
location within the Cartesian coordinate system for the TCP to
pass through.

※ Since the Cartesian coordinate system consists of six

values (x, y, z, Rx, Ry, Rz), all six values will need to be set
as sub-items of MoveL, MoveLB, MovePB, MoveJL, and
MoveITPL.

© RAINBOW ROBOTICS Inc. All rights reserved. 115

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Point Function

 Motion property

 1st Destination

 2nd Destination

As explained earlier, the Point function is a sub-function of the Move function. Move
specifies the properties of the motion, whereas Point is responsible for setting the
target position.

Note: For the Point function, the target value will vary depending on the command
type of the Move function.

▷ Joint Movement Type(MoveJ, MoveJB) Point :

Contains the target joint angle values (in degrees) for all six joints

▷ Linear Movement Type(MoveL, MoveLB, MovePB, MoveJL, MoveITPL) Point :

Contains the target destination point (in Cartesian coordinates) for the TCP.

© RAINBOW ROBOTICS Inc. All rights reserved. 116

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

When a user taps on a Point in the program tree, the Point function pop-up window
will appear. The window contains the following fields:

Each area is described in the table below.

© RAINBOW ROBOTICS Inc. All rights reserved. 117

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Section Description

Sets the name of the point (not required).

① After setting the name, the location information of the point can
be used as a variable later.

Allows a user to select the setting type of the point function.

② ● The Joint Move has 3 setting options.

● The Linear Move has 4 setting options.
● The default type when creating a Point is ‘Absolute’.

Sets the speed and acceleration of arm movements to the

③
location

Updates the Point information with the current robot position.

● After moving the robot to the desired position/posture by

Jog or direct-teaching, press “Get” to store the
information.
④
● To save the Point at the current position/posture, press
the “Set” button (Section 7).

Depending on the Point type (Section 2), the “Get” button may
or may not supported.

Moves the arm to the specified Point.

● Must hold down the button to move the arm to the saved
position. Note: the movement is a joint movement type.
⑤ ● When the movement is completed, a pop-up message will
appear.

Depending on the Point type (Section 2), button may or may not
supported.

Moves the arm to the specified Point.

● Must hold down the button to move the arm to the saved
position. Note: the movement is a linear movement type.
⑥ ● When the movement is completed, a pop-up message will
appear.

Depending on the Point type (Section 2), button may or may not
supported.

© RAINBOW ROBOTICS Inc. All rights reserved. 118

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Specify an escape condition (Finish At) and an escape time

(Stopping Time) for the action. It is not a required input.

● If the input is left blank, the operation will end normally

after reaching the target point.
⑦
● Once the escape condition is satisfied, the operation
stops based on the escape time and continues to the
next action.

The minimum escape time is 0 seconds.

⑧ Saves the changed settings.

Closes the Settings window and will not save user input without
⑨
pressing the “Set” button (Section 7).

※ An example using the Get function (Section 4) is shown below.

1. Use the Jog / Direct-teaching function to move to the desired posture / position

© RAINBOW ROBOTICS Inc. All rights reserved. 119

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2. Get current posture / location information by pressing “Get” button

© RAINBOW ROBOTICS Inc. All rights reserved. 120

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3. Save after confirming reflection

※ An example using the Finish at/Stopping time option (Section 6) is shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 121

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 When not using the Finish at function,

(If left blank,)
End of motion after arrival to original set target point, execute next command.

 When using the Finish at function,

(When entering a specific conditional expression,)
Even if the target point is not reached, the operation is terminated when the Finish
at condition occurs and the next command is executed.
If condition does not occur during operation, execute the next command after
reaching the target point normally.

© RAINBOW ROBOTICS Inc. All rights reserved. 122

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The following setting options exist for each type of Move function.

Joint Move Type’s sub Point

> Sets the Points for MoveJ by using fixed, user

defined joint angles.
Absolute
>Requires the user to set the desired posture/joint
angle configuration through the Get function.

>Sets the Points for MoveJ by using one of several

methods.

>Enables the user to set the desired posture/joint

Variable
angle configuration through the Get function.
Option >The user can also change a joint angle by setting
it to a variable or a mathematical operation.

>Sets the Points for MoveJ by changing the joint

angles relative to the previous angle position.

>If a joint movement is set to zero, that joint will

Relative not move. If all are set to zero, the robot will not
move.

>The user can also change a joint angle by entering

a variable or mathematical operation.

>> continue

© RAINBOW ROBOTICS Inc. All rights reserved. 123

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Linear Move Type’s sub Point

>Sets the Points for MoveL by using fixed, user
defined Cartesian coordinate values.

>After moving the robot's TCP, Cartesian coordinate

values through the Get function can be set
Absolute
>Note: The default Cartesian coordinate system for
the Absolute Point Type is the base coordinate
system of the robot arm (manufacturer's default
coordinate system).
>Sets the Points for MoveL by using one of several
methods, and the target Cartesian coordinate value.

>After moving the robot’s TCP, Cartesian coordinate

Variable
values through the Get function can be set.

>The user can also change the TCP Point by setting it

to a variable or a mathematical operation.
>Sets the Points for MoveL by setting the relative
distance / offset from the previous Point.

>The user can also choose a user defined Reference

Point from which to move. The default value is
PT_LAST_TCP, which indicates the last arrival point.
Option
>Through Reference Frame, the user can specify
Relative which coordinate system to use for relative
movement. The default value is Frame_Base, which
represents the base coordinate system of the robot
arm. The user can make changes to the user
coordinate system or the tool's local coordinate
system.

>In addition, the user can set a point by using a

variable or a mathematical operation.
>Similar to Variable, but it sets a target point based on
a user-defined coordinate system.

>Enables the user to select the user coordinate

system as a reference by setting the Reference
Frame.

User >Selects the desired reference coordinate system with

Coordinate the Get function to automatically enter the robot's
pose / position information based on the selected
coordinate system.

>For example, if the user’s coordinate system ‘0’ is

selected and ‘0’ is entered in all Cartesian coordinate
values, TCP moves to the origin of the user coordinate
system.

© RAINBOW ROBOTICS Inc. All rights reserved. 124

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

User >In addition, the user can set a point by using a

Coordinate variable or a mathematical operation.
The figure below shows each different type of Point as displayed in the UI.

▷ Joint Type - Absolute point

① Absolute Option point.

② The robot's posture/angle value is saved through “Get” button.

© RAINBOW ROBOTICS Inc. All rights reserved. 125

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Joint Type – Variable point

① Variable Option point.

② Enables the user to enter the joint angle for the target posture or enter the
parameterized information as an equation.

© RAINBOW ROBOTICS Inc. All rights reserved. 126

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Joint Type – Relative point

① Relative Option point.

② Enables the user to enter how much each joint should move relative to the
previous joint angle. All angles are in degrees. In addition, it enables the user to
enter parameterized information or formulas.

© RAINBOW ROBOTICS Inc. All rights reserved. 127

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Linear Type - Absolute point

① Absolute Option point.

② Enables the user to save a posture/position by using the “Get”/”Save” button. The
reference coordinate system of the Cartesian coordinate system value is the
robot base coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 128

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Linear Type – Variable point

① Variable Option point.

② Enables the user to enter the target Cartesian coordinate values. The user can
also enter parameterized information as formulas. The reference coordinate
system of the set Cartesian coordinate values is the base coordinate system of
the robot arm.

© RAINBOW ROBOTICS Inc. All rights reserved. 129

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Linear Type – Relative point

① Relative Option point.

② Requires the user to enter the distance/angle offset relative to the. Reference.
point. Also enables users to enter variable information.
③ Enables a user to select a user defined point from which to move. The. Default.
value is PT_LAST_TCP, which indicates the last arrival point.
④ Chooses a coordinate system to specify relative movement. The default. value is
Frame_Base, which represents the base coordinate system of the robot arm. The
user is also able to choose the user coordinate system or the tool's local
coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 130

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

▷ Linear Type – User Coordinate point

① User Coordinate Option point.

② The User Coordinate Option is similar to Variable, but it allows the user to set the
target point based on a previously defined user coordinate system. Users can
also enter variable information.
③ Selection box for the user coordinate system that the user would like to use as a.
reference.
④ The “Get” button will load in the robot's current posture/position information.
based on the selected coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 131

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) A user coordinate system can be set through the Coordinate menu in the Setup
screen or by using the Setting function in the Make screen.
2) Up to 3 user coordinate systems can be set and used.
3) The factory default user coordinate system is the same coordinate system as the
robot base coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 132

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Changing Movement Properties

The following conditions apply when changing the action properties (type of move)
of a configured action.

 Switching in the same series can be done without any restrictions.

 Switching to another types (Move Joint types-> Move Linear types / Move
Linear types-> Move joint types), can be done only when the type (option) of
Point function is set to Absolute.

© RAINBOW ROBOTICS Inc. All rights reserved. 133

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Example of Basic Program Creation

The following is an example of creating and running a simple program based on the
above Move and Point functions.

[Step 1]
Create a new project. In this case, the name of the project is ‘Test’.

[Step 2]

Click the Move function to add a Move command to the program tree. The
default command will be MoveJ. A Point function will also be added to the tree as
shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 134

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Step 3]
Using the Jog button, move the robot to its intended position. In this example, the
robot was moved to the following joint angle: [Base:0’, Shoulder:0’, Elbow:90’,
Wrist1:-90’, Wrist2:90’, Wrist3:0’].

Click on a Point in the program tree to display the Point setting pop-up window as
shown below.

[Step 4]
In the Point pop-up window, click the “Get” button to update the fields with the
current robot posture/angles. Press the “Set” button to save this Point.

© RAINBOW ROBOTICS Inc. All rights reserved. 135

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Step 5]
After saving the point, the UI will look as follows.

[Step 6]
Repeat steps 1 - 4 several times to teach the robot the desired motion. The
completed example program will look as follows.

© RAINBOW ROBOTICS Inc. All rights reserved. 136

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Step 7]

After the program is finished, run it on the work screen by pressing the “Play” (▷)
button. To run the movements using the simulation arm, use the Simulation mode.
To run the movements using the real robot arm, use Real Robot mode.

After clicking the “Play” button (▷), the robot will move to its initial position as
shown below.

By holding down the “Approach” button, the robot arm will move to the initial
position for the program. Once the robot reaches its starting position, a pop-up
message will confirm to the user that the robot has reached its starting position.

© RAINBOW ROBOTICS Inc. All rights reserved. 137

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Step 8]
After receiving the pop-up in Step 7, the program is ready to run. Click the “Play"
button at the bottom again to run the program.

The image below shows the program running.

© RAINBOW ROBOTICS Inc. All rights reserved. 138

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) The Point that the robot is current moving towards will be displayed as yellow in the
program tree.

 Initial Movement Position

The initial position can be modified in the Begin section of the program. Before
running a program that contains movement, the robot must return to the initial
position.
The initial position can be changed by the following way.

1. Move the robot to the desired starting position using either the Jog or Teaching
button
2. Click Begin in the Program Tree to open the Begin menu
3. Click the “Get” button to record the current posture, and then click the “Set” button
to save the position

© RAINBOW ROBOTICS Inc. All rights reserved. 139

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) When the program is first created, all default starting angles will be set to ‘0’.

© RAINBOW ROBOTICS Inc. All rights reserved. 140

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Collision detection during operation

The RB Series has 2 built-in collision detection functions:
- External Collision Detection (Environment-Collision Detection)
- Internal Collision Detection (Self-Collision Detection)

[ External Collision ] [ Internal Collision ]

 External Collision (Environment Collision Detection)

- Detects unplanned external collisions.
- Detects unexpected collisions with the environment, including people.
- Collision sensitivity can be changed in the Setup.
- The user can change the collision sensitivity in real time while the program is
running through the ‘Set’ Function.
- For accurate collision detection, the load / center of mass of the tool should be
set accurately.
- When operating with high sensitivity collision detection setting, a regular motion
could be recognized as a collision due to the sudden acceleration / deceleration
of the robot.

© RAINBOW ROBOTICS Inc. All rights reserved. 141

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

If the robot arm detects an external collision while in real mode, the following pop-up
will appear.

To continue, choose one of the 2 options:

● Resume: Checks the status and continues robot operation

● Halt: Exits the program

Alternatively, tap (hit) on the robot arm twice to continue the operation. This will
perform the same function as the ‘Resume’ button.

© RAINBOW ROBOTICS Inc. All rights reserved. 142

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Internal Collision Detection

- Occurs when the robot predicts that it will collide with itself.
- If the robot extends beyond the preset Workspace limits, it will stop by itself.
The setup for the surrounding environment area is done in the Setup screen.
- Users can also set a virtual box for collision detection. This will cause the robot
to stop itself if either the virtual box is expected to collide with itself or it goes out
of the workspace. The virtual box is configured in the Setup-Tool

The image below shows a situation where the user caused the robot to crash into
itself. Just before colliding into itself, the robot will stop, prompting the UI to display
a warning in red.

© RAINBOW ROBOTICS Inc. All rights reserved. 143

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The image below shows a situation where the robot is about to leave the user-
defined workspace. Just before leaving the workspace, the robot will stop,
prompting the UI to display a warning in red.

The image below shows a situation where the virtual collision box set up by the user
detects / predicts a collision. The robot will stop, prompting the UI to display a
warning in red.

If the robot stops during operation in real mode, please move the robot arm to a safe
position with direct teaching function before continuing work.

© RAINBOW ROBOTICS Inc. All rights reserved. 144

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.4 TEACHING ICONS AND DESCRIPTION

In the previous section 6.3, only the basic teaching functions (Move and Point functions) are
described. This section is dedicated to the other teaching functions.

■ Circle Function :

The ‘Circle’ function provides a movement method for circular motion.

There are 2 circle methods: Three Point and Axis/Center.

● The Three Point method allows a user to draw an arc between 3 Points. The method
requires the user to provide 2 Points: the middle Point and the end Point. The initial
Point will be the most recent position that the robot is in.
● The Axis/Center method allows the user to draw a circle around a center Point. The
method requires the user to provide the center Point and the axis around which the
robot will draw the circle. The radius of the Axis/Center method is determined by
distance between the robot’s most recent position and the center Point.

The Circle function offers 4 Orientation Options: Constant, Intended, Smooth, and Radial.

© RAINBOW ROBOTICS Inc. All rights reserved. 145

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Constant: Maintains the initial TCP orientation (Rx, Ry, and Rz) of the TCP through the.
movements.

■ Intended: The TCP rotation set by the user is followed.

■ Radial: Rotates the TCP orientation with respect to the center point of rotation.

■ Smooth: The turn changes immediately from the start point to the destination point. The
rotation information of the waypoint is ignored.

© RAINBOW ROBOTICS Inc. All rights reserved. 146

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Three Point Circle Type

The Three Point Circle method draws an arc connecting 3 points: the starting point, the
intermediate waypoint, and the arrival point.

① Circular Motion type selection (3-point setting type)

② Point type (Absolute / Variable / Relative / UserCoord.)
③ Orientation option (Constant / Radial / Intended / Smooth)
④ Via Point information
⑤ Destination Point information

© RAINBOW ROBOTICS Inc. All rights reserved. 147

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Axis/Center Circle Type

Set the center point for the circular motion, the axis of rotation, and the angle to rotate.

① Circular motion selection (axis / center setting type)

② Point type (Absolute / Variable / Relative / UserCoord.)
③ Orientation option (Constant / Radial / Intended / Smooth)
④ Center point information
⑤ Axis information
⑥ Rotation angle information

© RAINBOW ROBOTICS Inc. All rights reserved. 148

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Wait Function :

Waits for either a specified condition or a specific amount of time.

There are 3 modes:

1) Wait for a specified amount of time.

2) Wait while a condition is true.
3) Wait until the condition evaluates to true.

1) Time Condition

Ex) After a specified amount of time (i.e. 3.0 seconds), the next command is
executed.

When using ‘sync speed control bar’ function in Sync, the wait time is adjusted in
inverse proportion to the speed control bar value.

© RAINBOW ROBOTICS Inc. All rights reserved. 149

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2) Holding Condition

Ex.) if the condition is true, the function waits indefinitely

The Time Out function prevents the condition from continuing to wait until it becomes
False in a situation where it cannot be false. Escape the wait after the written time
has elapsed.

© RAINBOW ROBOTICS Inc. All rights reserved. 150

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3) Exit Condition

Ex.) If the condition is true, the process exits the ‘Wait’ function and then executes the
next task.

The Time Out function prevents the condition from continuing to wait until it becomes
True in a situation where it cannot be true. Escape the wait after the written time has
elapsed.

© RAINBOW ROBOTICS Inc. All rights reserved. 151

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ If Function :

The If function enables the users to insert a conditional ‘if’ statement.

Depending on the conditions, branches can be set up so that the robot can perform
different commands. Users can set the If/ Else if/ Else statement.

After adding the If function to the program tree and clicking the added If function, the
following pop-up window appears. Users can enter the conditional statement they would
like to use in the If statement.

Else if (+ Add else if) or Else functionality (+ Add else) can be created along with branch of
conditional statements.

© RAINBOW ROBOTICS Inc. All rights reserved. 152

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Switch Function :

Switch statement. Depending on the conditions, branches can be set up so that the robot
can perform different commands. Switch / case statements are available.

The following pop-up window appears by clicking the added Switch function in the
program tree. Users then can enter the criteria arguments for the Switch statement to
work.

When first creating a Switch statement, ‘default’ will be automatically created. Additional
case statements can then be added using the ‘+ Add case’ button.

After clicking the ‘+ Add case’ button, the following window will appear. Enter the
conditional argument in the field, and then press the ‘Set’ button to save.

© RAINBOW ROBOTICS Inc. All rights reserved. 153

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

© RAINBOW ROBOTICS Inc. All rights reserved. 154

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Repeat Function :

Repeats the nested program by the specified condition. There are 3 modes – these modes
look similar to those within the Wait function:

1) Repeat a specified number of times.

Note: If a user sets this value to 0, it will continuously repeat.
2) Repeat while the specified condition is true
3) Repeat while the specified condition is not true.
After clicking the ‘Repeat’ button, a pop-up menu containing the 3 modes will appear. Once
it opens, select and use the desired function.

1) Time Condition

© RAINBOW ROBOTICS Inc. All rights reserved. 155

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Ex.) The above example will repeat a subprogram 1 time.

2) Holding Condition

Ex.) While ANALOG_IN_0 and DIGITAL_IN_1 both evaluate to 1, the subprogram will
repeat. The subprogram will continue to repeat until at least one of the two value
changes.

© RAINBOW ROBOTICS Inc. All rights reserved. 156

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3) Exit Condition

Ex.) The subprogram will repeat until both ANALOG_IN_0 and DIGITAL_IN_1 evaluate.
To.1. The subprogram will continue to repeat until both values become 1.

© RAINBOW ROBOTICS Inc. All rights reserved. 157

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Break Function :

This function forcibly terminates the Repeat (break) or moves to the top of the Repeat
(continue). Even if the Repeat condition determines that the subprogram should continue,
the ‘Break’ function can be used to escape the Repeat. The ‘Continue’ function is used into
the ‘Repeat’ function, and when used, it moves to the top of the Repeat without executing
the subprogram.

It can only be used as a sub-item of the ‘Repeat’ function – it cannot affect any other part
of the program.

© RAINBOW ROBOTICS Inc. All rights reserved. 158

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

If the Repeat Break and Continue are used, it will behave as shown in the figure above.

* Example of break function

In the example below, there is an infinite loop that contains an If function. If the condition
(SD_ANALOG_IN_0 < 5) ever evaluates to true, the subprogram escapes the loop and
executes the next command (in this case, End). If the condition never occurs, the loop will
continuously repeat.

© RAINBOW ROBOTICS Inc. All rights reserved. 159

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

* Example of continue function

The example below has an infinite loop with an If function. If the condition
'SD_ANALOG_IN_0 < 5' is true, the command at the bottom of the Continue function is not
executed and the command at the top of the loop is executed (example below shows a 3-
seconds wait).

© RAINBOW ROBOTICS Inc. All rights reserved. 160

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Halt Function :

Terminates the program.

Halt is divided into Halt and Sub.P Halt. The ‘Halt’ function terminates the main program
regardless of whether it is executed in the main program or sub-program. Sub.P Halt must
be used within the sub program, and the moment it is executed, the sub program ends and
returns to the main program. Please refer to the diagram below.

In the example below, the program will check the If function and call the Halt function if
the condition is true. If the condition is true, the program will terminate and will not
execute the next commands.

© RAINBOW ROBOTICS Inc. All rights reserved. 161

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) When the Halt function is executed, the main program will terminate – this includes
any additional Thread functions.

© RAINBOW ROBOTICS Inc. All rights reserved. 162

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Assign Function :

Declare and designate the value of a variable. Variables can be changed through the
program to provide greater flexibility with conditionals.

A variable can be one of the 4 following types:

● Variable Type: Saves a single numerical (float) variable.

● Array Type: Saves multiple values in a list. The maximum length of the array is
10.
● Point Type: Saves position information (saves x, y, z, Rx, Ry, Rz).
● String Type: Saves a string (alphabetic and numerical characters – e.g.
“ASDF1234”)

When the ‘Assign’ function is added to the program tree, it will look as shown below.

To assign a variable, click on Assign and a pop-up will appear. Then, the variable can then
be assigned within the pop-up. Multiple variables can be declared by clicking the ‘Add’
button. To save the variable, click on the Set button.

If a declaration is made, the variable name and initial value will be displayed on the tree as
shown below

© RAINBOW ROBOTICS Inc. All rights reserved. 163

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

If multiple declarations are made, the program tree will show how many variables of each
type were declared.

An example pop-up window of the Assign function is shown below. Note, the below
window shows 4 declarations.

Each part of the pop-up encircled in green dotted lines are explained below:

1) Declares the type of variable (Variable, Array, Point, String).

2) Sets the name of the variable.
3) Sets the initial value during the declaration.
- For the Variable Type, the initial value is set as a single number (e.g.1).
- For the Array type, place initial values within curly braces (e.g.,{100,200,300}).
- For the Point type, use curly braces around the initial values, which will be in the
form of an array of 6 lengths, (e.g.,{300, 300, 300, 0, 90, 0}).
- For the String type, put use quotations around the string for the initial value (e.g.,
“hello_rb5”).

4) Button for the Point type.

- The 6 coordinates (x, y, z, Rx, Ry, Rz) of the current robot configuration are imported as
initial values.

© RAINBOW ROBOTICS Inc. All rights reserved. 164

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Script Function :

This function is used to write custom scripts, which are used for custom operations/
calculations. The ‘Script’ function also enables other functions such as variable
substitution and assignment.

Add the ‘Script’ function to the program tree and click the ‘Added Script’ function. The
following pop-up window will appear.

From here, the user can enter a custom script. If the user wants to execute multiple lines,
click the ‘Add’ button at the bottom of the pop-up window.

© RAINBOW ROBOTICS Inc. All rights reserved. 165

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The following example is a program that uses the ‘Repeat’ function to repeat once every
second. After each second, the ‘Script’ function increases the variable called counter by 1.
This will continuously repeat, as the loop is set to continue an infinite number of times.

In the example below, the variable delta_z is set to 50. The MoveJ function is used to
move to a specific pose named start_point (using the Point naming feature).

Once MoveJ moves to start_point, the ‘Repeat’ function is set to repeat its sub-items 4
times.

 MoveL uses the Relative Point function to move vertically in the z direction by
delta_z (50 mm) from start_point. (refer to the relative point function of the linear
movement series of the point function.)
 At the end of the loop, delta_z is increased by 50 using the ‘Script’ function.

To summarize, the robot moves to the first position with MoveJ, saves the position as
start_point, and then executes the ‘Repeat’ function 4 times and moves up each loop by
50mm using the MoveL function.

© RAINBOW ROBOTICS Inc. All rights reserved. 166

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) The script function is an area where the user can freely write and execute a script.
2) If the users write a script that doesn't match the syntax, the program may
malfunction or stop. Be careful and use the proper syntax when using this feature.

© RAINBOW ROBOTICS Inc. All rights reserved. 167

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Text Function :

The ‘Text’ function enables users to make notes/comments in the program list tree.
The text function is displayed as green text in the program tree and does not affect the
functionality of the program. Click the Text icon to add it to the Program Tree.

Users can add messages by clicking on the new Text line in the program tree. Notes can
be added by adding text to the pop-up. Press Set to save.

© RAINBOW ROBOTICS Inc. All rights reserved. 168

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Folder Function :

The Folder function allows commands to be organized and managed as modules. Each
folder can contain commands as sub-items, facilitating with the flow of the program. Each
folder can then be renamed to provide details to the flow of the program.

By clicking the Folder icon, it will be added to the program tree. Commands can then be
added, as shown below.

To rename the folder, click on the new Folder in the program tree. A pop-up will appear for
the user to change the name. Press Set to save the new name.

© RAINBOW ROBOTICS Inc. All rights reserved. 169

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The program tree will now show the folder with its new name.

Like the ‘Text’ function, it does not affect the function of the program. This function only
enables the flow of the program to be managed by enabling module creation.

© RAINBOW ROBOTICS Inc. All rights reserved. 170

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Sub.P(Sub Program) Function :

Through this, the user can insert other program files into the current project. These other
program files are made in advance and accessed through the File Explorer window.

If you click the Sub.P icon in the program, the following pop-up window appears, and at
this time, click on ‘Sub.P’.

If you click ‘Sub.P’, a pop-up window with file explorer function appears as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 171

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Through the file explorer window, a user can view other projects created on the tablet PC.
To add another file as a sub program, select the desired project and click the Open button.

In the above example, a subprogram named cocktail has been inserted into this project.
To see the contents of the subprogram, expand the program tree viewer (shown below in
the green dotted lines) and click on the loaded subprogram. The current project is
displayed on the left side, and the loaded project contents are displayed on the right side.

© RAINBOW ROBOTICS Inc. All rights reserved. 172

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

A subprogram is executed sequentially along with other programs.

If other commands are placed after a subprogram, they will be executed after the
subprogram finishes.

© RAINBOW ROBOTICS Inc. All rights reserved. 173

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) The contents of a subprogram called by the Sub.P function can be seen by the user,
but they cannot be modified. If modifications are required, the project must be
opened separately.
2) The Sub.P function can be called up to 10 levels deep. It is not recommended to use
recursion with the Sub.P function.

© RAINBOW ROBOTICS Inc. All rights reserved. 174

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Pre.P(Pre Program) Function :

The Pre-Program function is a dedicated Folder placed at the beginning of the program.
The Pre-Program folder will execute its contents only once.

● Pre-Program will not have an effect on a program in Make mode, since the
program will exit when it finishes executing.
● Pre-Program will have an effect on a program in Play mode, since the program is
on repeat.

The figure below shows the general command flow when the Pre.P function is not used.

[ Run in Make ] [ Run in Play ]

The left column shows the flow of a program being executed in the Make screen, whereas
the right column shows the same program being executed in the Play screen. In Make, the

© RAINBOW ROBOTICS Inc. All rights reserved. 175

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

program between Begin and End runs once. In Play, the program between Begin and End
runs indefinitely.

The figure below shows the program instruction execution flow when the Pre.P function is
used.

[ Run in Make ] [ Run in Play ]

In the Make screen, commands between Begin and End are executed in sequence,
regardless of using the ‘Pre.P’ function.

In the Play screen, the program repeats between Begin and End, but the commands
contained within the Pre-Program folder are executed only once.

‘Pre.P’ function is useful for running functions that need to be performed once, such as
variable declarations, and communication connections.

© RAINBOW ROBOTICS Inc. All rights reserved. 176

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The figure below shows the Pre.P (Pre-Program) function used in an actual project. The
‘Pre.P’ function must be directly after the Begin line, as it runs before the rest of the
program. Users cannot copy the Pre.P Folder and paste it elsewhere.

Warning
Warning:

1) If the ‘Pre.P’ function is used in a project called through the ‘Sub.P’ function in the
main program, the ‘Pre.P’ function applies only to the main program.

© RAINBOW ROBOTICS Inc. All rights reserved. 177

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Thread Function :

This creates a separate program tree called “Thread.” This program will run in parallel (at
the same time) with the main program. However, the thread program tree is limited to
using functions that do NOT control robot operation. In other words, the user cannot put a
Move, Point, or Circle function in the thread program tree.

As shown above, the Thread Function is configured in parallel with the main program

 Threads do not repeat automatically and will end when the main program ends –
even if the thread has not completed. To implement the Repeat Function, highlight
a command within the Thread program tree and press the Repeat icon.
 To implement a thread that repeats every second, first use the Thread icon, use
the Repeat Function within that thread, and then place a one second Wait Function
within the Repeat.
 The Thread Function will support only up to 3 different threads
 Thread functionality works only in the current running program. If a subprogram
called through a Sub.P function uses a thread, it will not work properly.
Thread types are as follows:

© RAINBOW ROBOTICS Inc. All rights reserved. 178

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 General Thread : It stops with the user's intentional pause, alarm, collision detection,
etc.
 Non-Stop Thread : It does not stop except for collision detection.
 Non-Stop Thread2 : It doesn't stop until the program Halt.
 Event General Thread : This is a General thread executed by the event thread call
function in the main program.
 Event Non-Stop Thread : It is a non-stop thread that is executed by the event thread
call function in the main program.

The figure below is an example of how the Thread function can be inserted into an actual
project. In the example below, 2 threads are inserted.

As shown in the figure above, the event thread starts running when the event thread call
function is used in the main program.

© RAINBOW ROBOTICS Inc. All rights reserved. 179

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) For the stability of the program, the use of threads is not recommended within any
program called as Sub.P.
2) Commands such as Move or Circle Functions cannot be placed within a thread.
3) When using Pause or Alarm function, both main program and thread are paused.

4) When the main program exits, the thread will also exit – even if the thread has not
yet finished executing.

© RAINBOW ROBOTICS Inc. All rights reserved. 180

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Alarm Function :

This places a pop-up message within the flow of the program. The message will disrupt
the execution of the program, prompting user confirmation to continue or stop the
program.

After clicking the Alarm icon, an Alarm will be placed within the program tree. Click the
new Alarm to display the setting window as shown below.

Enter the title and content of the alarm window. The title will appear at the top of the pop-
up, and the content will provide more in-depth information about the alarm. The below
image is an example of a user-made Alarm.

© RAINBOW ROBOTICS Inc. All rights reserved. 181

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

To better control the flow of the program, the user can either Resume or Halt the program’s
execution from the pop-up.

 Resume: Continue to the next command

 Halt: Terminate the program

Pressing the Resume button in the pop-up window will resume the program, whereas
pressing the Halt button will stop program at this point.

When using the alarm function, both the main program and thread programs are paused and
at the same time.

© RAINBOW ROBOTICS Inc. All rights reserved. 182

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Debug Function :

This function is used to debug internal values and can make a pop-up display the value of
a variable or internal parameter, similar to an alert.

‘Debug’ is for observing internal variables and mainly used to check the value of variables
used in the program during program teaching/ development.

After adding the debug function to the program tree, click ‘Debug’ to see the pop-up
window as above. Enter the variable name in the Name field to view how variables change.
To observe several variables within the same pop-up, press the ‘Add’ button to add
another variable.

The following is an example on using ‘Debug’.

Declare 1 variable-type variable (my_var = 3.14) and 1 array-type variable (my_arr =

{100,200,300}) using the ‘Assign’ function as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 183

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Add a Debug Function below it. Set the variables in the Debug window to observe the two
previously declared variables as shown below.

Once the setting is complete, run the program (the tablet PC and the control box must be
connected before execution), and the following pop-up window will enable when the

© RAINBOW ROBOTICS Inc. All rights reserved. 184

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Debug command is executed. The pop-up will allow the user to observe the specified
variable values.

 Resume: Continues to the next command.

 Halt: Terminates the program.

© RAINBOW ROBOTICS Inc. All rights reserved. 185

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Set Function :

The Set function enables users to temporarily change parameter settings, regardless of
the default values contained within the Setup menu. While the settings in the Setup menu
are applied as defaults to all projects, the Set function enables users to temporarily
override these parameters.

The various parameters that you change on the Setup screen are applied as default values
for all projects that use that control box. If you need to use certain parameters separately
for a particular project, you can manage parameter settings by project by adding the Set
function to the top of the project (for example, Pre.P. sub).

The Set function is a temporary setting, not a permanent setting. When a new Set function
is called for the same parameter setting, the parameter is reflected based on the new Set
function.

When the program ends, the parameter settings will return to the default values as defined
within the Setup menu.

The parameters that can be changed via the Set function are as follows:

 Time
 Collision Threshold
 Tool Payload
 Linear Move Offset
 Inbox check mode
 TCP Position
 Tool Collision Box
 Global Workspace
 Inbox size
 Collision Check On/off
 Overall speed multiplier
 Overall acceleration multiplier

© RAINBOW ROBOTICS Inc. All rights reserved. 186

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Serial communication configuration

 Fixed Velocity / Acceleration
 Spiral circle mode
 UI speed control bar
 Stop mode after collision detection
 User coordinate center shift
 Program flow after collision detection
 Disable Box D.out
 XYZ Projection
 Orientation Align
 User Coordinate Config
 XYZ Shift
 XYZ Shift2
 Vibration sensor
 Digital Input Simulation
 Program Flow Control
 High acceleration Mode
 Motion Time Constraints
 High Sensitivity Coll.Detect
 Micro offset value
 User Coordinate Shift 6D
 User Coordinate Auto Alignment
 Timer Setting
 No-Arc Move speed

Warning
Warning:

1) The value set in the Set function is a temporary value. When the program exits, it
automatically returns to the default values set from the Setup Menu.
2) The functions provided by the Set function enable you to change the setting value to
another value in the middle of the program flow.
For example, you can use its ‘Collision On / Off’ feature to selectively turn on/off
collision detection in the middle of a program flow.

© RAINBOW ROBOTICS Inc. All rights reserved. 187

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Time

Starts the timer and sets the initial value. Starting with the value entered, the value of the
timer increases.

-Set Function: Collision Threshold Change

Temporarily sets the collision detection sensitivity. The lower the value, the more sensitive
the robot is to collision. This has the same functionality as the Collision Threshold option
within the Setup Menu.

© RAINBOW ROBOTICS Inc. All rights reserved. 188

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Tool Payload

Temporarily set the tool's weight and center of gravity. This has the same functionality as
the Payload option within the Setup Menu.

-Set Function: Linear Move Offset

This function enables a slight offset relative to the base coordinate system. This function
is used to temporarily set an offset of up to 20 mm.

© RAINBOW ROBOTICS Inc. All rights reserved. 189

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Inbox Check mode

The Inbox Check mode feature enables the user to check whether a certain part of the
robot is in a predefined area (either in the Setup screen or the using the ‘Set’ function). The
parts of the robot that can be checked are as follows.

● Is the center of the tool flange inside the specified area?

● Is the TCP inside the specified area?
● Is any part of the gripper (tool box) in the specified area?
● All the above

The size and position of the box can be set in the Inbox screen using Setup mode (or
through the Set function). After enabling the Inbox Check feature, the user can use the
value via Script, If, or some similar function. Under the “Type” box, choose “Shared Data.”
Then under the “List” box, use either the SD_INBOX_TRAP_FLAG_0 (not in the box) or
SD_INBOX_TRAP_FLAG_1 (in the box) variables.

© RAINBOW ROBOTICS Inc. All rights reserved. 190

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: TCP Position

Temporarily set a relative offset of the tool's TCP position. Note: This will change the X, Y,
and Z used for Global TCP calculations. It has the same functionality as the End Effector
menu in Setup-Tool.

-Set Function: Tool Collision Box

Temporarily set the size and position of a virtual box surrounding the gripper for self-
collision prevention. The size and position of the virtual box will be relative to the TCP
Position. It has the same functionality as Tool Setting for Collision Check in Setup-Tool.

© RAINBOW ROBOTICS Inc. All rights reserved. 191

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Global Workspace

Temporarily set the limits of the workspace for collision prevention. It has the same
functionality as the Workspace Limits menu in Setup-Cobot.

-Set Function: Inbox Size

Temporarily set the position and size of the Inbox. It has the same functionality as the
Inbox settings in Setup-Inbox.

© RAINBOW ROBOTICS Inc. All rights reserved. 192

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Collision Detection On/Off

The ‘Set’ function temporarily activates external Collision Detection mode. It has the same
functionality as the ‘Enable Collision’ box in Setup-Cobot.

-Set Function: Speed Override (speed multiplier)

Through this, the user can temporarily change the base scaled speed used by the Move and
Point functions. Users can either enter a value between 0 and 2.0, or a predefined variable.

© RAINBOW ROBOTICS Inc. All rights reserved. 193

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

In the example above, the base speed for Move J is overwritten to be 1.5 times the normal
speed, whereas the base speed for Move L is overwritten to be 0.71 times the normal
speed.

© RAINBOW ROBOTICS Inc. All rights reserved. 194

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Acceleration Override (acceleration multiplier)

Through this, the user can temporarily change the base scaled acceleration used by the
Move and Point functions. Users can either enter a value between 0 and 2.0, or a
predefined variable.

Through the code below, you can see how the speed and acceleration change when Speed
Override and Acceleration Override are used.

© RAINBOW ROBOTICS Inc. All rights reserved. 195

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Serial Communication Configuration

The baud rate and stop bit / parity of the serial communication are temporarily set. It has
the same meaning as set in Setup-Serial.

© RAINBOW ROBOTICS Inc. All rights reserved. 196

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Fixed Velocity/Acceleration

This function enables the use of a fixed value, ignoring the set speed / acceleration for
each Move point. There are 2 sub-options: Joint Movement and Linear Movement.

The velocity (deg / s) and acceleration (deg / s ^ 2) set in the Joint Movement affect the
movement speed and acceleration of the Joint movement types MoveJ and MoveJB.

The velocity (mm / s) and acceleration (mm / s ^ 2) set in Linear Movement affect the
movement speed and acceleration of the linear movement types MoveL, MoveLB, MovePB,
MoveJL, MoveITPL and Circle.

If you do not want to force speed / acceleration through this function, clear the check box.
In this case, it follows the speed / acceleration value set for each point during operation.

Ex.) If you need to keep a certain speed and acceleration during operation, you can use
this Set function as in the code below.

© RAINBOW ROBOTICS Inc. All rights reserved. 197

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

© RAINBOW ROBOTICS Inc. All rights reserved. 198

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Spiral Circle Mode

This function is used to change the circular motion into spiral motion. Draw a circle / arc
when using the Circle function. If Set-Spiral mode is used over the Circle function, the
existing circle / arc will be changed to spiral motion. Therefore, to implement spiral motion,
this function should be inserted above the Circle function.

Ex 1) Only Circle is used: Create a general circle / arc trajectory

© RAINBOW ROBOTICS Inc. All rights reserved. 199

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Ex 2) Set-SpiralMode + Circle: Spiral trajectory

- Set Function: Speed Bar Control

The speed control bar (bottom right) of the UI can be adjusted with the program. The user
can change the UI speed control bar by using this function in the desired section.

© RAINBOW ROBOTICS Inc. All rights reserved. 200

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Collision Stop Mode

Select the robot's motion type when after detecting an external collision. There are two
options.

General Stop: After the collision is detected, the trajectory movement is paused on the
spot.

Evasion Stop: After the collision is detected, the robot moves a small amount away from
the external force and then pauses the trajectory movement.

It has the same meaning as Setup-Cobot's "Action after Collision".

© RAINBOW ROBOTICS Inc. All rights reserved. 201

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: User Coordinate Shift

This function temporarily moves the origin of user coordinate system. The user can set
the desired user coordinate system number and shift distance to shift and choose which
coordinate system to shift the shift distance.

© RAINBOW ROBOTICS Inc. All rights reserved. 202

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: After Collision Detection

The program flow can be selected after external collision detection.

Our default setting is to pause the program after detecting an external collision. After
detecting a collision, a collision detection alert pops up and the program and threads are
paused.

If you want to terminate the program after collision detection, you can use this function to
select the option as Stop state.

Pause State: Program flow is paused after external collision detection.

Stop State: Program flow stops after external collision detection.

© RAINBOW ROBOTICS Inc. All rights reserved. 203

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Disable Box D.out

This function temporarily disables the digital output of the control box.

Even if the digital output command inserted in the program is not erased, this set command
can be used to ignore the digital output command in a specific section.

It can be used for development testing, etc., and by selecting an option, the output can be
deactivated/activated according to the program section.

© RAINBOW ROBOTICS Inc. All rights reserved. 204

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

- Set Function: XYZ Projection

This function fixes the target position coordinate value of L series movement (eg MoveL.
MovePB, Circle etc). If the user selects the value to be fixed and the reference coordinate
system, the position coordinate value of the target point or set point is fixed to the value of
the selected axis of the selected coordinate system.

For example, if the base coordinate system (Global) is selected as the coordinate system
and Z Projection 100mm is selected/written, the Z height of all moving target values/set
coordinate values is applied collectively as 100mm.

This is a sub-function of the ‘Set’ function, which can be activated/deactivated for each
section of the program. If the user wants to disable it, select None in the coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 205

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Orientation Align

This function fixes the target rotation coordinate value of L series movement (eg MoveL.
MovePB, Circle etc).

Fix the rotation of L series motions with the rotation value of the selected Point.

As a sub-function of the Set function, this function can be turned on or off depending on the
program section. This function is used to uniformly rotate the TCP rotation at a time.

© RAINBOW ROBOTICS Inc. All rights reserved. 206

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: User Coordinate Config

This function is used to temporarily change the user coordinate system settings.

By selecting three points in the middle of the program flow, the user coordinate system
setting can be arbitrarily changed in the middle of the program.

Since it is a sub-function of Set, the user coordinate system setting returns to the default
value when the program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 207

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: XYZ Shift

This function is used to temporarily shift the target point.

User can select a base/tool/user coordinate Config and enter shift values from the target
point.

At this time, select whether to apply this shift only to L type or to both L type and J type.

As a sub-function of the ‘Set’ function, the setting returns to the default value when the
program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 208

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

- Set Function: XYZ Shift2

This function is used you to temporarily shift the target point.

User can select a base/tool/user coordinate Config and enter shift values from the target
point.

At this point, this shift is only applicable to L series operation, and both the XYZ position
value and the rotation value can be entered.

At this time, select whether to apply this shift only to L type or to both L type and J type.

As a sub-function of the ‘Set’ function, the setting returns to the default value when the
program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 209

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Vibration sensor

This function is used you to temporarily exclude collision detection by vibration during
collision detection.

As a sub-function of the ‘Set’ function, the setting returns to the default value when the
program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 210

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Digital Input Simulation

This function is used to simulate the Digital input signal.

Create the desired input by setting the state of the port to which you want to input.

As a sub-function of the ‘Set’ function, the setting returns to the default value when the
program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 211

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Program Flow Control

This function is used to pause and restart a program that is running, without using alarms
and I/O.

As a sub-function of the ‘Set’ function, the setting returns to the default value when the
program ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 212

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: High acceleration Mode

High acceleration mode reduces the time the robot's operating speed reaches the desired
operating speed through changes in the reduction/acceleration profile.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 213

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Motion Time Constraints

Motion Time Constraint function constrains the time taken to move from point to point in
the time entered. At this time, it is possible to increase the time but not to reduce it.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 214

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: High Sensitivity Coll. Detect

High Sensitivity Coll.Detect allows the detection of collision to be 30% more sensitive than
the existing sensitivity. In Setup, the sensitivity that made collision detection the most
sensitive is also 30% more sensitive than 0%.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 215

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Micro offset value

User can give a slight offset based on the desired coordinate system. This function
enables temporary offset settings of up to 20 mm.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 216

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: User Coordinate Shift 6D

This function is used to temporarily shift the user coordinate, or to temporarily change the
position and rotation of the user's coordinate.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 217

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: User Coordinate Auto Alignment

This function allows the user to change the user coordinate to the last TCP frame. It is
also possible to return to the default user coordinate.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 218

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: Timer Setting

User can select the timer their want to use and set the initial value of the timer. The timer
starts from the initial value set by the user.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 219

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Set Function: No-Arc Move speed

This is used to set the move speed of the robot in the no-arc state where welding is not
performed.

This function is used to pause and restart a program that is running, without using alarms
and I/O.

© RAINBOW ROBOTICS Inc. All rights reserved. 220

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ D.Out (Digital out) Function :

The Digital Output of the control box enables the user to select the digital output signal of
whichever port (0 ~ 15) of choice. Each port has 3 possible settings: high signal, low
signal, and bypass.

After adding the D.Out function to the program, click on D.Out in the program tree to have
the following pop-up window appear.

① Selection the detailed features available in the D.out function.

② Shows the status of the current Digital Out output from the control box.

© RAINBOW ROBOTICS Inc. All rights reserved. 221

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

③ Enables the user to select their desired setting for a port (0 ~ 15). The 3 setting
toggles are Bypass, Low and High.
Bypass: Maintains the previous output signal state (gray).
Low: Sets the output signal to the low (0) level (red).
High: Sets the output signal to the high (1) level (green).
④ Enables the user to review the settings selected within the target signal menu. A
further explanation is shown below.
⑤ Saves the settings specified within target signal menu.
-Digital Out : General output

With the control box connected to the teaching pendant, set the Target Signal menu as
shown above (to the right). Then, press the Preview button.

© RAINBOW ROBOTICS Inc. All rights reserved. 222

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

-Digital Out : Bit Combination

User can export the Digital output as a bit combination by selecting the start port and end
port to use and entering the desired value in Target Value.

With the control box connected to the teaching pendant, set the Target Signal menu as
shown above (to the right). Then, press the Preview button.

© RAINBOW ROBOTICS Inc. All rights reserved. 223

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

-Digital Out : Signal Toggle

To output by toggling a signal.

With the control box connected to the teaching pendant, set the Target Signal(the toggle
signal represent blue) menu as shown above (to the right). Then, press the Preview button.

© RAINBOW ROBOTICS Inc. All rights reserved. 224

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

-Digital Out : Whole port control

Control in all port signal at one time.

© RAINBOW ROBOTICS Inc. All rights reserved. 225

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

With the control box connected to the teaching pendant, set the Target Signal menu as
shown above (to the right). Then, press the Preview button.

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

-Digital Out : Unit Pulse shot

Select the port you want to use and enter the time between 0 and 2 seconds for T1 and T3
to output a unit pulse signal for the time you entered.

© RAINBOW ROBOTICS Inc. All rights reserved. 226

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

With the control box connected to the teaching pendant, set the Target Signal menu as
shown above (to the right). Then, press the Preview button.

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

-Digital Out : Pulse Width Modulation(PWM)

The PWM (Pulse Width Modulation) function is used to set the frequency and duty ratio of
a PWM pulse, and then send that signal through digital output port.

Example 1)

© RAINBOW ROBOTICS Inc. All rights reserved. 227

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

© RAINBOW ROBOTICS Inc. All rights reserved. 228

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Example 2)

In addition to using the D.out function, users can create a command to export digital
output using the Script function as shown below.

※ Function: manual_digital_out (port number, output level)

© RAINBOW ROBOTICS Inc. All rights reserved. 229

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

1) If a special function is assigned to a specific digital output port in Setup-I/O, that

port is not available through the D.out function.
2) If a special function is assigned to a specific digital output port, it will be indicated in
color yellow.
3) If you want to leave a comment about the D.out function you set, you can use the
memo function at the top right of the pop-up window.
4) Before using the digital output, be sure to fully understand the electrical properties
of the digital output port provided by the manufacturer.

© RAINBOW ROBOTICS Inc. All rights reserved. 230

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ An.out(Analog out) Function :

The Analog Out Function controls the analog output of the control box. Outputs the
selected voltage through the target (0 ~ 3) analog ports. Each port can output a voltage
range of 0 ~ 10V.

After adding An.Out to the program, click on An.out in the program tree to open the
following pop-up window.

① Shows the status of the current Analog Out output from the control box.
② Enables the user to enter their desired voltage setting. If the check box is empty, it is.
set to maintain the existing voltage output. To set the output, check the box and then
enter the desired voltage (0 ~ 10V).
③ Enables the user to preview the settings selected within the target signal menu. A.
further explanation is shown below.
④ Saves the settings specified within target signal menu.

© RAINBOW ROBOTICS Inc. All rights reserved. 231

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

With the control box connected to the teaching pendant, set the Target Signal menu as
shown above (to the right). Then, press the Preview button.

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

© RAINBOW ROBOTICS Inc. All rights reserved. 232

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

In addition to using the An.out function, users can create a command to export analog
output using the Script function as shown below.

※ Script Function: manual_analog_out (port number, output voltage)

Warning
Warning:

1) If you want to leave a comment about the An.out function you set, you can use the
memo function at the top right of the pop-up window.
2) Before using the analog output, please fully understand the electrical properties of
the analog output port provided by the manufacturer.

© RAINBOW ROBOTICS Inc. All rights reserved. 233

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Tool Out Function :

The tool flange has two digital outputs. Signals from two digital outputs can be specified.
In addition, the level of voltage to be output from the tool flange (0V or 12V or 24V) can be
adjusted together.

Click the Tool Icon to add it to the program. Click on Tool in the program tree to have the
following pop-up window appear.

© RAINBOW ROBOTICS Inc. All rights reserved. 234

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

① Shows the current status of the tool flange output at the end of the robot.
② Sets desired voltage and digital output.
● The output voltage can be selected between 0V, 12V, and 24V. There is also
an option to Bypass.
● The digital output can be toggled between Bypass, Low, and High.
③ Enables the user to preview the settings selected within the target signal menu. A
further explanation is shown below.
④ Saves the settings specified within target signal menu.

With the control box connected to the teaching pendant, and after activating the robot, set
the Target Signal menu as shown above. Then press the Preview button to preview the
tool flange output signal.

© RAINBOW ROBOTICS Inc. All rights reserved. 235

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

As shown above, the Current Signal menu will change to match the settings that the user
has put in the Target Signal menu.

Warning
Warning:

1) The user can add a comment about the Tool.out function by using the memo
function at the top right of the pop-up window.
2) Before using the tool flange output, please fully understand the electrical properties
of the port provided by the manufacturer.

© RAINBOW ROBOTICS Inc. All rights reserved. 236

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Gripper Function :

This function for the gripper is dedicated to cooperative robots and can be used to
conveniently test and be inserted into the program, enabling cooperative robot grippers
from various companies to be used, including Robotiq's grippers. It is not a simple I/O
method, but a function to enable users to use a gripper that is difficult to write by using
serial communication such as RS485 or using CRC.

Add the gripper function to the program tree and click the added Gripper as below.

© RAINBOW ROBOTICS Inc. All rights reserved. 237

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

1. Select the gripper product.

2. Select gripper connection point(Control Box, Tool Flange).
3. Select the function to be used as the gripper.

Warning
Warning:

The product list provided in the gripper function will be updated through user request.

© RAINBOW ROBOTICS Inc. All rights reserved. 238

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ RS485 Function :

This function is used to set the RS485/232 output for the tool flange or the control Box.
Users can output in ASCII mode, or in HEX mode.

The UI Tablet (Teaching pendant) only supports UI485 Tx.

The configuration can be previewed through the Preview button on the right side of the
pop-up window.

[ ASCII mode ]

© RAINBOW ROBOTICS Inc. All rights reserved. 239

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ HEX mode ]

Baud rate and other protocols (Parity bit, Stop bit) for use in Serial-Communication can be
set in Setup-serial menu. Alternatively, the user can use the Set-Serial_Configuration
option at the top of the project.

To use serial communication on the box side, plug a commercially available USB-Serial
(RS232 / 422/485) device into the USB port.

© RAINBOW ROBOTICS Inc. All rights reserved. 240

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Socket Function :

The Socket Function allows for socket communication. It provides the user the ability to
open sockets to connect, send request messages, and retrieve data to/from specific
server. Socket communication can be connected to at most 5 separate servers.

The Socket Function uses the IP settings as defined in the Setup screen. A user that would
like to change the IP settings can go to the Setup-System screen.

The Socket Function provides six different options as follows.

 Close: Closes the socket.

 Open: Opens socket and connects with server.
 Read ASCII Variable: Reads a value sent from the server. The user will need to
choose a variable to be overwritten with the received value.

© RAINBOW ROBOTICS Inc. All rights reserved. 241

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Read ASCII Array: Reads an array sent from the server and puts it into an array
type.
 Read String: Reads a string from the server and puts it into a string type.
 Send String: Send the specified string to the server.

-Socket Function: Close

This option closes the selected socket (0 ~ 4).

© RAINBOW ROBOTICS Inc. All rights reserved. 242

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Socket Function: Open

This opens the selected socket (0 ~ 4) and connects to the partner server. This option
requires the user to set the IP address and port number of the server they would like to
connect to.

© RAINBOW ROBOTICS Inc. All rights reserved. 243

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Socket Function: Read ASCII Variable

Through this, the user can select one predefined variable (from the ‘Assign’ function) and
overwrite the value of that variable with a value received from the server.

(Note: specific rules apply. These rules can be found at the end of the ‘Socket’ function
section.)

© RAINBOW ROBOTICS Inc. All rights reserved. 244

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Socket Function: Read ASCII Array

Allows the user to select one predefined array (from the Assign Function) and overwrite
the values contained within that array with the values of an array sent by the server.

(Note: specific rules apply. These rules can be found at the end of the Socket Function
section.)

© RAINBOW ROBOTICS Inc. All rights reserved. 245

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Socket Function: Read String

This is the function to put the ASCII string received through Socket communication into
the selected string variable.

(Note: specific rules apply. These rules can be found at the end of the Socket Function
section.)

© RAINBOW ROBOTICS Inc. All rights reserved. 246

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

-Socket Function: Send String

Through this, the user can send a specific string to the server by either entering a string
directly in the field, or sending a predefined string type variable.

© RAINBOW ROBOTICS Inc. All rights reserved. 247

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning
Warning:

The syntax that needs to be followed:

In order to use the Read ASCII Variable, ASCII Array, and String options provided by
the robot manufacturer, the data format received from the server MUST follow the
following format. If a special communication grammar/syntax is required, please
consult with the manufacturer.
Read ASCII Variable
When receiving a value from the server, the value must be sent as a numerical value.
(i.e. the numerical value doesn’t need to be contained within quotation marks)
(e.g. 123, 4567)
Read ASCII Array
When receiving an array from the server, the array doesn’t need to be contained
within quotation marks. In this case, there must be curly braces, and commas must
be present between each number value.
(e.g. {100,200,300}, {400,500,600,700})
Read String
When receiving a string from the server, the string must be inside quotes.
(e.g. “this_is_string_from_server”)

Internal variables to enable socket communication:

The RB series comes with built in variables for users to check information regarding the
status of the sockets, as well as the data coming through those sockets. The internal
variables are shown below. They can be accessed using the Script Function, or some
similar function (i.e. If) that allows a user to access variables. The variables can be
found in the List drop down after selecting Shared Data from the Type drop down menu.

SD_SOCK_IS_OPEN_ # (where # denotes the socket number 0 ~ 4)

A provided variable that stores whether the socket is open or connected to the server.
After a user opens a socket using the Open option in the Socket function, the user
can check if the socket is connected by using If (SD_SOCK_IS_OPEN_#)..
SD_SOCK_LAST_READ_# (where # denotes the socket number 0 ~ 4)
A provided variable that stores the last character that was sent via the socket. It can
be used to check whether the Read function executing normally.
For example, after using the ReadAsciiVariable option in the Socket function, users
can check if the last Read function performed normally by using If

© RAINBOW ROBOTICS Inc. All rights reserved. 248

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

(SD_SOCK_LAST_READ_0). This variable will have a value of zero if no data came

from the server.

The figure below shows an example of the Socket Function.

© RAINBOW ROBOTICS Inc. All rights reserved. 249

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Modbus TCP(Client) Function :

This function provides the ability to request and receive data from a specific IP / address.
Data request frequency and format can be specified.

The port number for Modbus TCP is fixed at 502 (Modbus standard).

The protocols and formats associated with Modbus TCP servers are listed in the Appendix.

Note: The Modbus TCP client function must be added at the top of the program under.
Pre.P.

① Input the IP address of the server.

© RAINBOW ROBOTICS Inc. All rights reserved. 250

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

② Select the signal type (Read bit (1bit), Read word (16bit), Write bit (1bit), Write
word (16bit)).
③ Input the address of the endpoint connection on the server.
④ Select the frequency of read / write requests per minute (Hz).
⑤ If using a Read method, contains the variable name to save the read value. If
using a Write method, set to the variable name to output.
⑥ Initial value of the variable set in step 5.
⑦ Button to add the signal.

Below is an example of the Modbus Function settings

Example 1 Interpretation)

This reads a word of information (16 bits) at address 123 from the server (IP: 1.2.3.4).
Stores the data in a variable named mod_return_value. Will read information at a rate of 5
times per second (5 Hz).

Example 2 Interpretation)

© RAINBOW ROBOTICS Inc. All rights reserved. 251

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This writes the bit value (1 bit) stored in the variable mod_write_bit to address 456 on the
server (IP: 1.2.3.4) and will write the data at a rate of 50 times per second (50 Hz).

© RAINBOW ROBOTICS Inc. All rights reserved. 252

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Conveyor Function :

Through this, the user can use the robot as a conveyor by generating movement at a
consistent speed in a specified direction. The user can also place their own desired
movement into the conveyor flow by using the MoveL, MoveLB, or ‘Circle’ functions.

Note: Joint movement (MoveJ, MoveJB, etc.) cannot be used as a sub-item of Conveyor.
Only MoveL, MoveLB, MovePB, MoveITPL, Circle are supported.

Add the conveyor function to the program tree and click on the function to see the options.

① Set the move type and speed of the conveyor.

② Set the direction for the conveyor movement (x, y, z value is based on robot arm
base coordinate system). The robot will move at the specified speed in the
specified direction until the conveyor movement ends.

© RAINBOW ROBOTICS Inc. All rights reserved. 253

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

An example program tree using the Conveyor Function will look as follows:

© RAINBOW ROBOTICS Inc. All rights reserved. 254

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Post.P(Post Program) Function :

The Post.P Function allows the user to insert a command that will be executed after the
program has completed.

The instructions declared within the Post.P function are sequentially executed after the
program terminates.

The execution of Post.P proceeds as shown in the diagram below.

© RAINBOW ROBOTICS Inc. All rights reserved. 255

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Example 1)

At the beginning of the program the D.out function sends a High signal to port 1. However,
the program did not send a Low signal before the end of the program. By using the PostP.
function, when the program terminates, port 1 will automatically send a Low signal.

As in the above example, the Post.P function can be used for safety functions.

© RAINBOW ROBOTICS Inc. All rights reserved. 256

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Example 2)

In the below example, the PostP. function is used to test whether the program terminates
as normal. If the program terminates as normal, the warning lamp (connected to D.out No.
0) will not be turned on. If the program terminates abnormally, the warning lamp will turn
on.

The SD_IS_INTENDED_STOP flag in this example is an internal system variable and is

always initialized to 0 (false) when the program starts. If the program stops as the user
intended as normal, this variable will be 1 (true). If the program stops abnormally for
various reasons, this variable remains false.

Any intended End signal by the user, such as pressing the UI ‘End’ button, receiving an I/O
stop signal, ending by another communication, etc., will be determined to be a normal
termination. (SD_IS_INTENDED_STOP = true)

If the program exits due to singularity access or exits due to command syntax problems,
the shutdown is recognized to be not as user intended. (SD_IS_INTENDED_STOP = false)

 The functions defined in the Post Program will be performed even if the program
did not terminate as normal (e.g. when users press Halt in an Alarm pop-up).
 Commands related to the movement of the robot arm, such as MoveJ and MoveL,
cannot be used within Post.P
 Post.P works only within a top-level program. If a subprogram invokes the Post.P
function, the Post.P portion of the subprogram will not be executed.

© RAINBOW ROBOTICS Inc. All rights reserved. 257

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Template Function :

This function inserts another pre-made program file (teaching file) into the current
document in a modifiable form.

The Template function is similar to the Sub.P function. However, any file that is loaded by
the Template function can be modified in the current program.

If you click the Sub.P icon in the program, the following pop-up window appears. At this
time, click ‘Template’.

Assume that a project named “sample_prog” has been created as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 258

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

example 1) sample_prog is called by Sub.P

example 2) sample_prog is called by Template

© RAINBOW ROBOTICS Inc. All rights reserved. 259

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

If the file is loaded into Sub.P as shown in Ex.1), the project will execute, but it is
impossible to modify the file in the current program. In addition, when the loaded
subproject is changed, the operation of the parent program is also changed.

If the file is imported by the Template function as shown in Ex.2), it is loaded in a form that
can be modified in the current program. Once copied to the template, the contents of the
copied subprogram are not changed even if the original is modified.

© RAINBOW ROBOTICS Inc. All rights reserved. 260

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Monitor Function :

This function is used to select variables (single variables, arrays, point variables, etc.) that
the user wants to observe in real time while the program is running.

Variables declared in the Monitor function can be viewed by clicking the monitor icon on
the right side of the Make / Play page.

In the program example above, a variable named ‘my_count’ is declared. The Repeat
function increments ‘my_count’ by 1 every second.

By using the Monitor function, the user can select the ‘my_count’ variable as the object to
observe.

As shown in the above image, in the Monitoring window, the user can enter the name of
the variable to be observed.

© RAINBOW ROBOTICS Inc. All rights reserved. 261

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

If the user wants to observe the value of the monitored variable, they can click the Monitor
icon on the right side of the screen.

After that, if the user presses the play (▷) button, they can observe the value of ‘my_count’
increasing every second.

© RAINBOW ROBOTICS Inc. All rights reserved. 262

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Pattern Function :

This function allows the user to define repetitive behavior.

By defining information about the operation space, and by defining which actions to be
performed at each location, the user can set the robot to perform the same action at every
point in space.

The user can implement palletizing through this function.

There are three sub settings.

 Pattern Property:
Define the target space for the repetitive motion.
The property supports various shapes such as straight line, plane, 3D cube,
and arbitrary point.
 Pattern Anchor:
The Reference point of the action defined in the Pattern Action.
 Pattern Action:
This setting defines the motion relative to the reference point set in the
Pattern Anchor. The defined relative behavior is repeated at every pattern
point set in the Pattern Property.

© RAINBOW ROBOTICS Inc. All rights reserved. 263

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The following is an example of Pattern function.

Step 1) Set the Pattern Property as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 264

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

With the above settings, the following repeat points are formed in space.

Step 2) Using the Pattern Anchor and the Pattern Action, define the relative movement as
below.

Step 3) Repetitive behavior is completed as relative movement set in Step-2 is applied in

all pattern points set in Step-1.

© RAINBOW ROBOTICS Inc. All rights reserved. 265

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Pinpoint Function :

This is a special function for storing posture information only. This function is used to
save information of a specific posture/position as a Point variable. If you create a PinPoint
while teaching a specific posture and give it a PinPoint name, the posture information is
converted into a Point variable.

The information saved as Point variable can be used in other operation

commands/settings.

© RAINBOW ROBOTICS Inc. All rights reserved. 266

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Jump Function :

This function allows you to discontinuously control the program flow. You can change the
program flow through several sub-options.

Option) Jump to Begin

Move the program flow to the first line.
Option) Jump to Line
Move program flow to a specific line number.

Option) Jump To / Here

Move program flow to a specific address value. Jump To calls the address value
you want to move, and JumpHere writes the address value.

© RAINBOW ROBOTICS Inc. All rights reserved. 267

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

© RAINBOW ROBOTICS Inc. All rights reserved. 268

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Replay Function :

This function is to play the recorded teaching motion. Motion recording is performed in the
settings of the Make page. If you select the name and motion speed/property of the
recorded motion, the recorded motion is played again.

© RAINBOW ROBOTICS Inc. All rights reserved. 269

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Weaving Function :

It is a special function for welding weaving. TCP trajectories are automatically changed to
set the weaving actions included under the weaving function. Simply select and enter the
desired weaving shape and weaving options.

The left side of the figure below is for normal operation only. If this motion is put as a sub-
item of weaving, TCP trajectory reflecting the weaving trajectory is drawn (in the example
on the right, in the case of triangle wave weaving).

© RAINBOW ROBOTICS Inc. All rights reserved. 270

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Force Function :

This function is used for force control. The movements below the Force Control function
automatically change the trajectory to give the set force.

Select and input the desired force control mode, the sensor to be used for force control,
and the force control target value.

The left side of the figure below is for normal operation only. The motion starts in the air
above the plane and ends in the air. If you put this action as a sub-item of force control as
it is, it will change to the action of pressing the ground with a certain force (when setting
the force control to the ground).

© RAINBOW ROBOTICS Inc. All rights reserved. 271

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[ Before applying force control ] [ After applying force control ]

■ Arcweld Function :

This is a special function for arc welding. A special macro function designed to quickly
enable implementable functions, such as Wait / D.out.

To use this function, the Device field on the Setup page must precede setting the parameters
and connection information for the welder.

As illustrated above, this feature enables quick and easy insertion of weld speed/weld
current / voltage settings / safety signal processing options into the program to be used for
welding.

© RAINBOW ROBOTICS Inc. All rights reserved. 272

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ TCP Set Function :

This enables the ability to change the TCP value during program execution with the TCP
value pre-saved in Setup' Tool List. It does not change again until the TCP value is
replaced or the program is shut down.

© RAINBOW ROBOTICS Inc. All rights reserved. 273

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Manual Direct Teaching Function :

This feature enables direct teaching during program execution. For ‘Mode On’, the
program pauses when the manual direct teaching command is executed and a pop-up
window appears on the screen as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 274

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

You can select four features in the pop-up window.

① Use the direct teaching feature while the program is paused.

② If you used the direct teaching feature in ①, turn off the direct teaching function and
resume the program.
③ Ignore the manual operation and resume the program.
④ Exit the program.

© RAINBOW ROBOTICS Inc. All rights reserved. 275

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ G Code Function :

This function allows the robot to move to the path stored in the G code. The G code
file must be stored in a folder at the specified path
(\Tablet\Android\data\com.rainbow.cobot\files\work) in advance to be available.
Enter the name of the G code file that user saved in File Name. The plane in which the
robot moves can then specify the xy, yz, and zx planes of the user-specified coordinate
system as the starting planes.

© RAINBOW ROBOTICS Inc. All rights reserved. 276

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Interface Function :

The interface function is for connecting external devices such as PLC, HMI, and PC with
the control box. The list of external devices that can be used using the interface is as
follows.

 HMI(MemLink) - Proface, TOP

 PLC(MC Protocol) – Mitsubishi PLC
 Mulic Player
 PLC(XGT Protocol) - LS Electric PLC
 CSV File
 Pickit
 Modbus Client(Interrupt)

Because each external device has different detailed features available, you should refer to
the following information.

© RAINBOW ROBOTICS Inc. All rights reserved. 277

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

HMI(MemLink) - Connection Configure

This function connects communications between the HMI and the RB system. The user
will enter the socket number, IP address, and port. The user can also decide whether to
turn on or ignore alarm pop-up in the event of a connection failure or communication error
and set a communication timeout time.

© RAINBOW ROBOTICS Inc. All rights reserved. 278

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

HMI(MemLink) - Write Single variable

This enables the ability to enter values for one address of HMI. Enter a number or variable
name for the transfer value.

© RAINBOW ROBOTICS Inc. All rights reserved. 279

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

HMI(MemLink) - Read Single variable

This enables the ability to read values from one address in HMI. The read values are
stored in the variable you specify (Variable).

© RAINBOW ROBOTICS Inc. All rights reserved. 280

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

HMI(MemLink) - Write Array

This enables the ability to enter numbers from the starting address of the HMI to the
specified number of addresses. The pre-declared array must be written to Array Name and
should not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 281

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

HMI(MemLink) - Read Array

This enables the ability to read data from the starting address of HMI to the specified
number of addresses. The pre-declared array must be written to Array Name and should
not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 282

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(MC Protocol) - Connection Configure

This function connects communications between the Mitsubishi PLC and the RB system.
The user will enter the socket number, IP address, port, and protocol type. The user can
also decide whether to turn on or ignore alarm pop-up in the event of a connection failure
or communication error and set a communication timeout time.

© RAINBOW ROBOTICS Inc. All rights reserved. 283

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(MC Protocol) - Write Single variable

This enables the ability to enter values for one address of PLC. Enter a number or variable
name for the transfer value.

© RAINBOW ROBOTICS Inc. All rights reserved. 284

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(MC Protocol) - Read Single variable

The ability to read values from one address in PLC. The read values are stored in the
variable you specify (Variable).

© RAINBOW ROBOTICS Inc. All rights reserved. 285

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(MC Protocol) - Write Array

This enables the ability to enter numbers from the starting address of the PLC to the
specified number of addresses. The pre-declared array must be written to Array Name and
should not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 286

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(MC Protocol) - Read Array

This enables the ability to read data from the starting address of PLC to the specified
number of addresses. The pre-declared array must be written to Array Name and should
not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 287

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Music Player

This function plays an mp3 file while the program is running. The Music driver must be
installed through the RB Driver, and the mp3 file you want to play must exist in the
specified path.

© RAINBOW ROBOTICS Inc. All rights reserved. 288

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(XGT Protocol) - Connection Configure

This function connects communications between the LS Electric PLC and the RB system.
The user will enter the socket number, IP address, port, and protocol type. The user can
also decide whether to turn on or ignore alarm pop-up in the event of a connection failure
or communication error and set a communication timeout time.

© RAINBOW ROBOTICS Inc. All rights reserved. 289

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(XGT Protocol) - Write Single variable

This enables the ability to enter values for one address of PLC. Enter a number or variable
name for the transfer value.

© RAINBOW ROBOTICS Inc. All rights reserved. 290

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(XGT Protocol) - Read Single variable

This enables the ability to read values from one address in PLC. The read values are
stored in the variable you specify (Variable).

© RAINBOW ROBOTICS Inc. All rights reserved. 291

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(XGT Protocol) - Write Array

This enables the ability to enter numbers from the starting address of the PLC to the
specified number of addresses. The pre-declared array must be written to Array Name and
should not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 292

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

PLC(XGT Protocol) - Read Array

This enables the ability to read data from the starting address of PLC to the specified
number of addresses. The pre-declared array must be written to Array Name and should
not exceed the maximum length of the array, 20.

© RAINBOW ROBOTICS Inc. All rights reserved. 293

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CSV File - Read String

This function reads a string from a CSV file. The CSV file must be saved within the
specified path.

© RAINBOW ROBOTICS Inc. All rights reserved. 294

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CSV File - Read Single Variable

This function reads a single number from a CSV file. The CSV file must be saved within
the specified path.

© RAINBOW ROBOTICS Inc. All rights reserved. 295

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Pickit - Connection Configure

This function connects communications between the Pickit and the RB system. The user
will enter the socket number, IP address, and port. The user can also decide whether to
turn on or ignore alarm pop-up in the event of a connection failure or communication error.

© RAINBOW ROBOTICS Inc. All rights reserved. 296

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Pickit - Send Command

Set the command to be sent to Pickit and the data according to the command.

© RAINBOW ROBOTICS Inc. All rights reserved. 297

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Modbus Client(Interrupt) - Connection Configure

This function connects the RB system as a client in Modbus communication. The user will
enter the socket number, IP address, and port. The user can also decide whether to turn

© RAINBOW ROBOTICS Inc. All rights reserved. 298

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

on or ignore alarm pop-up in the event of a connection failure or communication error and
set a communication timeout time.

Modbus Client(Interrupt) - Write Single variable

© RAINBOW ROBOTICS Inc. All rights reserved. 299

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function is used to input word type data to one address through Modbus
communication. At this time, enter the name of a number or variable for the transfer value.

Modbus Client(Interrupt) – Read Single Variable

© RAINBOW ROBOTICS Inc. All rights reserved. 300

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function is used to input word type data to one address through Modbus
communication. At this time, enter the name of a number or variable for the transfer value.

Modbus Client(Interrupt) - Write Multiple Variable (array)

© RAINBOW ROBOTICS Inc. All rights reserved. 301

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function is used to input word data from the start address to the specified number of
addresses through Modbus communication. At this time, the previously declared array
should be written in ‘Array Name’ and the length should not exceed 20, the maximum
length of the array.

Modbus Client(Interrupt) - Write Multiple Variable (array)

© RAINBOW ROBOTICS Inc. All rights reserved. 302

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This function reads data from the start address to the specified number of addresses
through Modbus communication. At this time, the previously declared array should be
written in ‘Array Name’ and the length should not exceed 20, the maximum length of the
array.

■ Extension Board Function :

© RAINBOW ROBOTICS Inc. All rights reserved. 303

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This feature controls digital/analog output when purchasing and using an extended I/O
module. The method of use is the same as the existing D.output and An.output.

© RAINBOW ROBOTICS Inc. All rights reserved. 304

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ User Input Function :

This feature is used when a user wants to randomly change the value of a specific variable
while the program is running. Available for Variable/Array/Point/String/Global/ROM
variables.

© RAINBOW ROBOTICS Inc. All rights reserved. 305

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

When launched, a pop-up window will appear as follows:

You can select three features in the pop-up window.

① Resume the program without replacing the corresponding variable.

② Enter the data you want to change in 'Applied Values', then press to reflect the
data you entered in 'Applied Values', and then resume the program.
③ Exit the program.

© RAINBOW ROBOTICS Inc. All rights reserved. 306

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Touch Sensing Function:

Touch sensing is intended to utilize welding applications and detects the movement of the
base material and reflects the direction of movement of the base material and is used for
welding.
A detailed description of this feature is provided in a separate manual.

© RAINBOW ROBOTICS Inc. All rights reserved. 307

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Home :

Home function is used to move the robot with Project Home Posture or Joint Zero Posture.
At this time, the user can select the movement type. When going to the Project Home
Posture, the user can select Project Home Posture of the main program and Project Home
Posture of the subprogram.

© RAINBOW ROBOTICS Inc. All rights reserved. 308

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The diagram below shows the difference between the case of going to the Project Home
Posture of the main project and the case of going to the Project Home Posture of the
subproject when using the home function within the subprogram.

© RAINBOW ROBOTICS Inc. All rights reserved. 309

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ D.Weld :

This function enables the use of the digital weld machine. After selecting the weld machine
to be used, user can proceed with ‘Weld Start’, ‘Weld Off’, and ‘Weld Setting’.

© RAINBOW ROBOTICS Inc. All rights reserved. 310

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Event Thread Call :

This function is used to run the event thread in the main program. The event thread is
executed only when the event thread call is executed in the main program. In this case, the
number of the event thread to be executed can be selected.

© RAINBOW ROBOTICS Inc. All rights reserved. 311

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Convert :

This function is used to convert the main program. Unlike the existing Sub.P and Template,
this function changes the main program itself, so the program displayed on the UI will also
change.

If you click the Sub.P icon in the program, the following pop-up window appears. At this
time, press ‘Call by program switching method’.

If you select the program you want to switch to in the file explorer pop-up that appears
after clicking, the command is created as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 312

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.5 EDITNG THE PROGRAM

The bar on the left of the screen contains icons that allow a user to change the order or
structure of the instructions entered in the program tree.

Please refer to section 6.1 for the description of the edit icon. The example explains how to
edit the program.

■ Cut/ Paste
Step1) Select the command to cut. The selected command will be shown in blue. In
below the example, the MoveL line is selected.

Step2) Press the Cut button. Once Cut is clicked, the line disappears from the program
tree.

© RAINBOW ROBOTICS Inc. All rights reserved. 313

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Step3) Click the location to paste and click the Paste button. In the example, the MoveL
command is pasted inside the Folder.

■ Copy/ Paste.

Step1) Select the item to copy. The selected command will be shown in blue. In the
below example, the MoveJ line is selected.

Step2) Press the Copy button.

Step3) Click desired location and click the Paste button. In the example, the MoveJ
command is pasted under the Folder.

© RAINBOW ROBOTICS Inc. All rights reserved. 314

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Delete

Step1) Select the command to delete. The selected command will be shown in blue. In
this example, the Wait command is selected.

Step2) Click the Del button. The command has been removed as shown below.

■ Move

Step1) Select the command to move. The selected command is shown in blue. In this
example, MoveJ at the top is selected.

© RAINBOW ROBOTICS Inc. All rights reserved. 315

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Step2) Click the Down button to move MoveJ down as shown below.

■ Pass

Step1) Select a function to temporarily hold / block its execution. The selected
command is shown in blue. In this example, the MoveL command is selected.

Step2) Click the Pass icon. The command turns dark as shown below and will not be
executed. To undo it, simply select the command again and press the Pass button again.

© RAINBOW ROBOTICS Inc. All rights reserved. 316

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.6 PROGRAM MANAGEMENT

Allows the user to save, load, or create a project.

 Save Project

To save the current project, click the save icon on the bottom left side of the
UI work screen. If there is no change from the existing saved contents, it is shown
as below.

© RAINBOW ROBOTICS Inc. All rights reserved. 317

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Load File
To load a saved project, click the File button at the bottom of the UI to display a list
(shown below). If a user selects a file from the list, it will be loaded in as the current
program. If there are unsaved changes to the current project, a prompt will request
the user to save.

Note: Only recently used files will appear in the list.

To open a file, users can click the Load option. Clicking Other Program button will
open the File Explorer, which allows the user to look through saved files.

© RAINBOW ROBOTICS Inc. All rights reserved. 318

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Save As
To save a program with a different name, click the Save As option in the File list. The
following pop-up window will appear. Using this window, users can save their
current file with the desired program name. The program name cannot bet set to
“default,” as it is already in use by the system.

© RAINBOW ROBOTICS Inc. All rights reserved. 319

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7.7 OPERATION UTILITIES

On the right side of the Make screen, there are other utility functions to help a user operate
the system.

 Utility: Comprises a collection of additional functions, such as the posture saving

function, the system input / output information view function, and the system
output test function. These functions are also frequently used.
 Setting: Allows the user to use the jog function, as well as other utility functions
to help the user’s experience.
 Monitor: Provides a window that allows the user to monitor both system and user
variables in real time.
 UI Mode: UI mode can be selected according to the user's level and the user's
purpose.

© RAINBOW ROBOTICS Inc. All rights reserved. 320

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Utility sub-functions
[Utility-Posture]

Up to 20 frequently used postures can be saved and used on the UI tablet.

Press the Get button to get the current position information and press the Set button to
save it.

Hold down the Move button to move to the saved position.

© RAINBOW ROBOTICS Inc. All rights reserved. 321

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Utility-Input Signal View]

Input signal monitoring window for control box and tool flange.

[Utility-Output Signal View]

© RAINBOW ROBOTICS Inc. All rights reserved. 322

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Output signal monitoring window for control box and tool flange.

[Utility-Status]

This window allows the user to see the robot arm’s current and temperature. It also shows
the user coordinate system settings.

[Utility-Snap]

© RAINBOW ROBOTICS Inc. All rights reserved. 323

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Snap mode selection window to be applied when using direct teaching mode.

[Utility-Box Output Test]

This window allows you to test the output of the control box.

[Utility-Tool Output Test]

© RAINBOW ROBOTICS Inc. All rights reserved. 324

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This window is used to test the output of the tool flange.

[Utility-I/O Extension Board]

I/O expansion module's I/O signal monitoring window.

© RAINBOW ROBOTICS Inc. All rights reserved. 325

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Window for testing the output of the I/O expansion module.

■ Setting sub functions
[Setting-Tool List Select]

There is a Tool List Select setup feature that sets up TCP to use in a pre-saved TCP list.

© RAINBOW ROBOTICS Inc. All rights reserved. 326

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-Joystick]

The Joystick setting allows the user to control the robot using a joystick connection.

© RAINBOW ROBOTICS Inc. All rights reserved. 327

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-User Coordinate]

Allows the user to set their own coordinate system using the 3-point setting mode. For
more explanation, see the Coordinate page on the Setup Screen.

© RAINBOW ROBOTICS Inc. All rights reserved. 328

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-User Coordinate Center]

 Offset (mm) - Change the X, Y, and Z of the user-defined coordinate system by

providing an offset for the robot. Maintains the rotation of the coordinate system.

 Orientation ( ̊ ) – Change the orientation of the user-defined coordinate system.

Maintains the X, Y, and Z of the coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 329

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-Auto TCP]

This function allows the user to find the position of the TCP automatically.

If the user enters 4 different postures that maintain TCP to be set as the same point on
three-dimensional space, the function automatically calculates the position of the TCP.

© RAINBOW ROBOTICS Inc. All rights reserved. 330

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-External F/T]

This window allows you to check and calibrate the external F/T sensor (e.g. Robotiq F/T
sensor).

© RAINBOW ROBOTICS Inc. All rights reserved. 331

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-Auto COG / Mass]

This function finds the weight and center of gravity attached to the tool using the internal /
external F/T sensor.

© RAINBOW ROBOTICS Inc. All rights reserved. 332

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-Motion Recording]

This function records the motion through the direct-teaching(gravity compensation)

function. The recorded action is available in the program via the Replay function.

© RAINBOW ROBOTICS Inc. All rights reserved. 333

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-I/O Logging]

This function sets one digital input/output, records the change in the value of that
input/output, and graphically shows it.

© RAINBOW ROBOTICS Inc. All rights reserved. 334

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-Welder Wire Control]

This function can control the welding machine's wire.

© RAINBOW ROBOTICS Inc. All rights reserved. 335

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-TCP Orientation Change]

The rotation direction of the default TCP coordinate system is set based on the current
robot pose to match the selected coordinate system.

© RAINBOW ROBOTICS Inc. All rights reserved. 336

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Setting-User Coordinate Auto]

Changes the coordinate system setting to the current TCP frame.

© RAINBOW ROBOTICS Inc. All rights reserved. 337

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Monitor Function

This function is used in conjunction with the Monitor command in Section 6. This window
allows the user to observe the system and user variables in real time.

By pressing the recording function on the upper right, the TCP trace of the robot tool is
recorded in the 3D viewer in the 3D viewer. (Yellow solid line)

© RAINBOW ROBOTICS Inc. All rights reserved. 338

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ 3D View Function

Allows users to change the perspective of the 3D viewer.

© RAINBOW ROBOTICS Inc. All rights reserved. 339

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 8. ROBOT OPERATION

8.1 ROBOT OPERATION
The ‘Play’ screen allows the user to use program files to move the robot in a continuous loop.

 ‘Play’ screen is shown below.

 Before using, please check the connection between tablet PC and control box.

Check the Icon to view the connection with the robot. Please refer to Chapter
6.2 for connection.
 Open the desired project. Please refer to Chapter 6.6 for more detail about how to
open a project.
 Press the play (▷) button located at the bottom of the screen to run the robot.
 A dialog pops up when the current robot position is different from the initial
position specified. Press and hold the ‘approach’ button to move the robot to the
initial position.
 In ‘Play’, the program loaded will repeat indefinitely if the ‘number of repeat’ is not
specified. Press ‘Count’ at the top of the screen to set the ‘number of repeat’.
 The motion speed of the robot can be adjusted while the robot is in operation.

© RAINBOW ROBOTICS Inc. All rights reserved. 340

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Warning

Warning:
1) The risk assessment of the robot must be done, and all safety requirements must be
satisfied before the robot operation.
2) The initialization of the robot may fail when the robot is not properly installed, the
payload is not set accurately, or an issue occurs in the initialization process.
3) In ‘Play’, the robot physically moves immediately when the ‘Play’ button is clicked.
Please read carefully all sections related to the robot operation.
4) To move to the ‘Make’ or ‘Setup’ screen, the program running must be terminated.
5) The USB cable between Tablet PC and control box can be unplugged during the
robot operation.

© RAINBOW ROBOTICS Inc. All rights reserved. 341

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

8.2 ROBOT STATUS CHECK

The robot’s current status is shown in the ‘Play’ screen during operation.

Description
① Program flow tree
② 3D viewer
③ 3D view angle changer
④ System information, system variable monitor
⑤ Play / Pause / Stop / Velocity slide bar

© RAINBOW ROBOTICS Inc. All rights reserved. 342

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

8.3 TROUBLESHOOTING WHILE OPERATING

Various problems can occur while the robot is in operation. Below are some of those
problems and ways to troubleshoot.

1. External Collision

The robot will stop immediately when a collision is detected.

In order to resolve, please remove the object that collided with the robot. Press
‘Resume’ to resume the current program or ‘Halt’ to terminate.

TOK TOK (Tap to Resume)

Tap the robot twice to resume the previous task.

© RAINBOW ROBOTICS Inc. All rights reserved. 343

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2. Self Collision

The robot automatically stops when it approaches a configuration where it will run
into itself.

To recover from this situation, press the ‘Teaching Button’ at the tool flange and
manually change the current pose of the robot. Then, please edit the command in the
current program that caused the self-collision.

When the situation arises in ‘Simulation’ mode on the ‘Make’ screen, any of the
following instructions will recover the robot.

 Use any button on the ‘Make’ screen related to robot motion.

 Change ‘Simulation’ mode to ‘Real’ mode to get the current joint data of the
robot.
 Use the ‘Teaching Button’ to get the current joint data of the robot.

3. Alarm Message

When an ‘Alarm’ is set in the current program, the robot will pause once the ‘Alarm’
command is reached. A dialog will then pop up.

Press ‘Resume’ to continue the task or ‘Halt’ to stop.

© RAINBOW ROBOTICS Inc. All rights reserved. 344

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4. Teaching Pendant (Tablet) Disconnection

This message will occur when the Tablet PC is physically disconnected from the
control box.

To recover, please plug the Tablet PC’s USB cable to the control box.

If the Tablet PC’s USB cable is plugged into both the Tablet PC and the control box, it
may be damaged. Please replace the cable with new one.

5. Power Down of Robot ARM

This error will appear when the robot is not receiving enough power. It may appear
when the Emergency Stop button is pressed. If the button is not pressed, however,
the AC or DC power line may be damaged.

The robot should be rebooted and re-initialized to resolve this issue.

© RAINBOW ROBOTICS Inc. All rights reserved. 345

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6. Joint Controller Errors

The robot will stop automatically when one of its joint controllers experiences one of
the following errors:

The difference between the reference input and

Big Error encoder value exceeds the factory-specified
threshold.

The encoder value does not change, but a current

Jam Error is supplied that is over the factory-specified
threshold.

The current exceeds the maximum current

Overcurrent Error
threshold.

The temperature exceeds the maximum

Temperature Error
temperature threshold.

The version of software in the main controller is

Mode Error
different from the version in the joint controller.

© RAINBOW ROBOTICS Inc. All rights reserved. 346

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 9. SETUP
9.1 SET-UP(COBOT)
This setting sets the default settings for the robot arm.

Collision sensitivity. When it is enabled, the collision sensitivity

① can be adjusted. The robot stops with a smaller impact if the
collision sensitivity is lower.

Workspace boundary. The robot will stop when it crosses the

②
boundary of workspace.

Displays the UI robot model currently in operation and the robot

③
model of the connected control box.

Select the stop mode after the collision detection. Two stop
④
modes (General Stop / Evasion Stop) are available.

Robot’s installation angle. If there is a corresponding installation

angle among the examples shown, click on the picture. To
⑤
directly input, enter the direction vector of gravity based on the
global coordinate system.

⑥ Save current settings.

© RAINBOW ROBOTICS Inc. All rights reserved. 347

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.2 SET-UP(TOOL)
This setting sets the installed tools.

To prevent self-collision while moving, a virtual box-type

boundary at the tool flange can be created. Define a size of the
①
box and location of the center in respect to the tool’s coordinate
system.

Payload setup. Mass in kg up to * kg (depending on robot

②
model) and center of gravity in mm should be defined.

Define the relative TCP position and orientation in respect to the

③
coordinate system of the tool flange.

④ Save current settings

© RAINBOW ROBOTICS Inc. All rights reserved. 348

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.3 SET-UP(SYSTEM)
Set the display unit, date and time, UI password, system update, and more.

① Date and time format

② Language setup.

③ Command Icon Language setup.

Network address setup. This address is used to communicate

④
with other devices.

Auto initialization setup. When this function is enabled, the robot

initializes itself to be ready to move in ‘Real-Mode’. To use this
⑤ feature, the ‘Auto-Initialization Key’ in the digital I/O needs to be
defined. When ‘Auto-Initialization Key’ is activated, the robot will
initialize itself.

When enabled, will update software. Please refer to appendix

⑥
(software update) for more details.

This Function can be used with ‘Auto-Initialization’. After the

⑦ robot initializes itself, the program specified in this Function will
run automatically.

⑧ Save current settings.

© RAINBOW ROBOTICS Inc. All rights reserved. 349

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.4 SET-UP(LOG)
Check the system log status of the robot arm.

Copy a log file from the control box to the Tablet PC. Depending
①
on the size of file, it may take few seconds.

② Opens the log file copied.

Displays an internal log based on the following characters:

I : Information
W : Warning
③
E : Error
S : System
F : Fatal

④ This function checks the status of the robot arm.

Back up program files / log files / setup files stored in the

Control Box to your tablet PC.
⑤
The copied (back-up) files are stored in a specific path on your
tablet PC.

© RAINBOW ROBOTICS Inc. All rights reserved. 350

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.5 SET-UP(UTILITY)
Provides functionality for packaging and emergency recovery of robots.

A button pre-defined for packing pose. Before this process, the

robot should be activated and all attachments should be
① removed. When a user presses and holds this button, the robot
moves to the packing pose. This is the pose that the robot is
originally shipped in.
This function is used to reset a joint encoder back to its initial
value.
This function is intended to recover the robot from abnormal
operation and should be used with caution.
②
Step1. Select a joint to be reset.
Step2. Press the ‘Release’ button to have the joint move freely.
Step3. Align the marks at the joint. Press ‘Reset’ to re-initialize
the joint.

Warning
Warning:

1) Before using the ‘Emergency Joint Recovery’, please fully understand all related
usages of the robot.
2) If shipping the robot, it should be packed within its original box.

© RAINBOW ROBOTICS Inc. All rights reserved. 351

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.6 SET-UP(SERIAL)
This setting sets serial communication between the robot tool and the control box.

Settings for Serial (RS485) communication(Baud Rate, Stop bit,

①
Parity bit).

② Save current settings

© RAINBOW ROBOTICS Inc. All rights reserved. 352

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.7 SET-UP(I/O 1)
This function activates the GPIO port on the control box.

① Select an input port to be changed.

② Specify the type of the input port.

③ Save changes.

© RAINBOW ROBOTICS Inc. All rights reserved. 353

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

④ Select an output port to be changed.

⑤ Specify the type of the output port.

⑥ Save changes.

⑦ Select the input port to be named.

⑧ Type the name you want to use.

⑨ Save as selected name.

© RAINBOW ROBOTICS Inc. All rights reserved. 354

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

⑩ Select the output port to be named.

⑪ Type the name you want to use.

⑫ Save as selected name.

© RAINBOW ROBOTICS Inc. All rights reserved. 355

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Description of all types available for the input port.

The input ports from Din0 to Din 15 in the control box can be set up as one of the
following types. (R = Rising Edge, F = Falling Edge, H = High State).

0. Default (GPIO)
1. Run Program Once (Rising Edge)
2. Stop/Halt Program (Rising Edge)
3. Pause Program (Rising Edge)
4. R = On direct-teaching / F = Off direct-teaching
5. R = speed 100% / F = speed 0%
6. R = Convert to REAL mode / F = Convert to SIMULATION mode
7. R = Robot arm initialization (activate servo drive)
8. H = Collision detection off
9. H = Auto-Initialization Key
10. R = Resume the operation from pause state caused by external collision
11. Add Point in UI (Rising Edge)
12. Run Program Repeat (Rising Edge)
13. R=go to Begin posture / F=stop moving
14. R = Program Resume
15. H = Quick Freedrive Change
16. R = Pause / F = Resume Program
17. F = Pause / R = Resume Program
18. H = Speed 100% / L = 0%
19. R = Load Default Program
20. F = Robot Arm PowerDown
21. R = Touch Sensing
22. F = Touch Sensing
23. H = No Arc
24. H = Program Start Block
25. R = Ext.Joint0 Plus/F=stop
26. R = Ext.Joint0 Minus/F=stop
27. R = Ext.Joint1 Plus/F=stop
28. R = Ext.Joint1 Minus/F=stop
29. R = Ext.Joint2 Plus/F=stop
30. R = Ext.Joint2 Minus/F=stop
31. H = Safety Speed

© RAINBOW ROBOTICS Inc. All rights reserved. 356

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

32. F = UserCoord0 ←TCP frame

33. F = UserCoord1 ←TCP frame
34. F = UserCoord2 ←TCP frame
35. F = Load & Run Program Table

Warning
Warning:

1) Before using digital input, please fully understand electrical characteristics and
all related manuals about digital input port.

© RAINBOW ROBOTICS Inc. All rights reserved. 357

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

■ Description of all types available for the output port.

The output ports from D.out 0 to D.out 15 in the control box can be set up as one of the
following types. (R = Rising Edge, F = Falling Edge, H = High State).

All ports specified as one of the types except for ‘Default (0)’ mode cannot be used in
‘Teaching’

0. Default (GPIO)
1. H = Program/Robot is running / L = Idle
2. L = Program/Robot is running / H = Idle
3. H = External collision is detected
4. H = Direct teaching is running
5. Bypass the Digital input signal (same number Din port)
6. Bypass Tool Flange input 0
7. Bypass Tool Flange input 1
8. H = Robot’s arm is in active status (servo on) / L = non-active
9. H = Real mode status / L = Simulation mode status
10. H = Robot is moving / L = Idle
11. L = Robot is moving / H = Idle
12. H = Robot activation (Servo-on) fail
13. H = Arm electric power is On / L = Power is Off
14. H = Collision detection is running / L = not-running
15. H = Pause state
16. H = Trap status in Inbox 0
17. H = Trap status in Inbox 1
18. PWM module
19. H = Teaching Pendant is connected
20. H = Program is running by MAKE page
21. H = Program is running by PLAY page
22. H = Is Conveyor mode
23. H = Control Box Boot
24. H = Force Control mode
25. PC Alive Pulse
26. H = Speed Bar 100%
27. H = Last Program Load Success
28. H = TCP is in InBox 0

© RAINBOW ROBOTICS Inc. All rights reserved. 358

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

29. H = TCP is in InBox 1

30. H = Is Alarm
31. H = Robot posture is Begin posture
32. H = Emergency Teaching Enable
33. H = Prog. Run in Sub.P area

Warning
Warning:

1) Before using digital output, please fully understand electrical characteristics and all
related manuals about digital output port.

© RAINBOW ROBOTICS Inc. All rights reserved. 359

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.8 SET-UP(I/O 2)
Set I / O value to always perform before / after program operation.

Set I / O transmission to be executed before program starts.

① Ports set here will send output to the corresponding settings as
soon as the program starts.

② Save current settings.

© RAINBOW ROBOTICS Inc. All rights reserved. 360

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Set I / O sending to be executed after program terminates.

③ Ports set here send output to the set value at the end of the
program.

④ Save current settings.

After the control box boots for the first time, select the digital
⑤
output option for the control box.

⑥ Save current settings.

© RAINBOW ROBOTICS Inc. All rights reserved. 361

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.9 SET-UP(INBOX)
This setting sets the Inbox size and location information for using Inbox features.

Input panel to specify center of mass and size for Inboxes 0 and
① 1. The coordinate system matches the manufacture’s (robot
base) coordinate system.

② Save changes.

© RAINBOW ROBOTICS Inc. All rights reserved. 362

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.10 SET-UP(INTERFACE )
Performs the settings required for the user to operate the robot and UI.

① Number of times to repeat loop in ‘Play’ screen.

Enable/Disable Safety slider in ‘Make’ screen.

When enabled, a user must hold the slider to keep the speed.
② Otherwise, the speed is back to zero.
When disabled, the speed is maintained at the level that a user
specifies.

③ Speed for the ‘Smooth’ option while using ‘Jog’.

At the bottom of the jog on the Make screen, select whether or
④
not to visualize the Auto Rotate Alignment function button.
⑤ Amount of movement per ‘Tick’ while using ‘Jog’.

⑥ Limit the upper limit value of the speed bar on the UI.

In the Make screen, select the action property to be created by

⑦
default when creating Move.

⑧ Select the external-F/T sensor usage.

⑨ Joint sensitivity for direct-teaching.

When using a dedicated jog/emergency stop interface device
⑩ provided by Rainbow Robotics, define the role of the play button
on the device.
⑪ Save Changes.

© RAINBOW ROBOTICS Inc. All rights reserved. 363

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.11 SET-UP(COORDINATE)
Contains information regarding user coordinate settings.

The current user-coordinate information manually set.

① This coordinate is in respect to the manufacturer’s base
coordinate system.

Add/Edit user-coordinate system.

②
The user-coordinate system is defined using the 3-point method.

© RAINBOW ROBOTICS Inc. All rights reserved. 364

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.12 SET-UP(DEVICES)
Set up additional equipment associated with the robot.

Proceed with the setup of the equipment connected to the robot.

© RAINBOW ROBOTICS Inc. All rights reserved. 365

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.13 SET-UP(TOOL LIST)

Set the Tool List.

ⓛ Indicates the TCP value currently set.

Select the TCP number you want to modify. Set the name, TCP
②
location, and center of gravity, and then save.

© RAINBOW ROBOTICS Inc. All rights reserved. 366

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

9.14 SET-UP(PROGRAM TABLE)

Set the program to load via digital input.

ⓛ Import previously created settings..

② Indicates which digital input port to use.

Select the function the user wants to use. The function is divided
③
into Load, Load + Play(Once), and Load + Play(Repeat)..

④ Select the project to use via digital input.

⑤ Save the settings.

The Start Program function used as the 'Control Box Digital In Function Definition' of the
existing 'Setup > I/O1' can use only one digital input, and the program can run only the main
program currently uploaded to the control box. ‘Setup > Program Table’ can load different
programs to different digital inputs. You can run additionally loaded programs.

© RAINBOW ROBOTICS Inc. All rights reserved. 367

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The picture below shows the difference between the two features.

© RAINBOW ROBOTICS Inc. All rights reserved. 368

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

CHAPTER 10. MAINTENANCE

10.1 CHECK LIST AND PERIOD
The robot requires regular maintenance to perform in the best condition. As such, a regular
maintenance schedule is highly recommended. During maintenance, the following check list
has to be done. If you find a problem that cannot be solved by yourself, contact the
manufacturer.

Check
Check Point Period
Item

Check that the robot moves to the

desired location properly.
Daily
Robot Check that the robot keeps its pose
between being turned on and off.
Every
Robot Remove stains, dust, and any foreign
3
Arm objects. months
Check if a joint becomes irregularly hot
Motor Daily
or noisy

Every
Check that all screws on the body are
Screws 3
tightened months

Cable Check the connection of cables Every

Control
6
Box months
In-Box Remove dust in the control box.

Warning
Warning:

1) During maintenance, cut off the power to the system (Control Box and Robot Arm)
and perform work.
2) For pneumatic/electric line passing models, remove the connected energy source
(pneumatic/electric power) and perform the work.

© RAINBOW ROBOTICS Inc. All rights reserved. 369

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

10.2 ROBOT ARM MAINTENANCE

■ Maintenance Period
The robot arm requires an inspection at least per 1 year. Depending on the wear and tear, the
maintenance period may differ.

■ Maintenance Instruction
1. Move the robot to the ‘Home’ position.
2. Turn off the control box.
3. Check the following list.
① Robot-Control Box Cable: Is it cut or pierced?
② Screws: Are any loose?
③ Mechanical Parts (Motor, Brake, Reduction Gear): Are any louder than normal?
4. Remove stains, dust, and any other foreign objects.

© RAINBOW ROBOTICS Inc. All rights reserved. 370

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

10.3 CONTROL BOX MAINTENANCE

Dust in the control box may cause it to over-heat or generate electrostatic. These can
potentially damage the control box. It is required to regularly clean up dust in the control box.

■ Maintenance Period
The control box requires an inspection and clean-up at least once per 6 months.
Depending on the environmental condition around the robot, the period may differ.

■ Maintenance Instructions
1. Turn off the control box.
2. Remove the cover of the control box.
3. Remove dust in the control box with a vacuum cleaner.
4. Check that all wires are connected properly.

© RAINBOW ROBOTICS Inc. All rights reserved. 371

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX A. SYSTEM SPECIFICATION

 Robot Arm

Specification
RB5-850E Series: 5 kg / 11 lbs
RB3-1200E Series: 3kg / 6.6 lbs
Payload
RB10-1300E Series: 10 kg / 22 lbs
RB16-900E Series: 16 kg / 35.2 lbs
RB5-850E Series: 22 kg / 48.5 lbs
RB3-1200E Series: 22.4 kg / 49.4 lbs
Weight
RB10-1300E Series: 37.1 kg / 81.8 lbs
RB16-900E Series: 32 kg / 70.5 lbs
RB5-850E Series: 850 mm / 33.5 in
RB3-1200E Series: 1200 mm / 47.2 in
Arm Reach
RB10-1300E Series: 1300 mm / 51.1 in
RB16-900E Series: 900 mm / 35.4 in
Degree of freedom 6 axis
Joint Range ± 360°(Elbow: ± 165°)

Joint Velocity Joint: 180°/s, TCP: 1m/s

Repeatability ±0.1 mm

RB5-850E/RB3-1200E Series: Ф173 mm

Foot print
RB10-1300E Series: Ф196 mm

Tool Flange Connector M10 12-pin

Non-E Version : Digital In 2, Digital Out 2, Analog In 2

Tool Flange I/O
E Version : Digital In 6, Digital Out 2

Tool Flange Comm. RS485

Tool Flange Output Vol. 12V/24V, 2A
IP Rate IP66
Temperature / Noise 0 ~ 50 ˚C / <65dB
Material Aluminum, Steel

Power cable, RobotArm-ControlBox connection cable,

Cable Length
Estop/Jog Interface cable : 5m

© RAINBOW ROBOTICS Inc. All rights reserved. 372

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 Stand-type Control Box

Specification
Weight CB04, CB05: 17 kg / 37.5 lbs
Size (W x H x D) 454 x 240 x 416.2 mm

Digital Input 16 / Digital Output 16

I/O Ports
Analog Input 4 / Analog Output 4

Communication Ethernet, TCP/IP

Power 100 ~ 240 VAC, 50 ~ 60 Hz
Material EGI

© RAINBOW ROBOTICS Inc. All rights reserved. 373

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX B. FOOT PRINT SCHEMATIC

 RB5-850E / RB3-1200E Series Foot Print Schematic
- P.C.D: Pitch Circle Diameter
- DP: Depth

© RAINBOW ROBOTICS Inc. All rights reserved. 374

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 RB10-1300E / RB16-900E Series Foot Print Schematic

- P.C.D: Pitch Circle Diameter
- DP: Depth

© RAINBOW ROBOTICS Inc. All rights reserved. 375

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX C. TOOL FLANGE SCHEMATIC

 RB5-850E / RB3-1200E Series Tool Flange Schematic
- P.C.D: Pitch Circle Diameter
- DP: Depth

© RAINBOW ROBOTICS Inc. All rights reserved. 376

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 RB10-1300E / RB16-900E Series Tool Flange Schematic

- P.C.D: Pitch Circle Diameter
- DP: Depth.

© RAINBOW ROBOTICS Inc. All rights reserved. 377

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC

 Stand-type Control Box Electrical Schematic

© RAINBOW ROBOTICS Inc. All rights reserved. 378

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX D-1. CONTROL BOX DIGITAL INPUT

 Warning
Before connecting Control Box Digital input port, the power should be cut off.

1. Internal Circuit Diagram of Digital Input [DI00 ~ DI15]

Device configuration that receives Control Box Digital input [DI00-DI15].

There is an internal 24V supply terminal. A malfunction will occur if an external 24V is
supplied.

2. How to use digital input elements [DI00 ~ DI15]

© RAINBOW ROBOTICS Inc. All rights reserved. 379

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

How to use RB Control Box Digital input device [DI00-DI15].

Voltage / current characteristic curve of digital input signal.

3. Digital input characteristics [DI00 ~ DI15]

This specification applies only to digital input 0 to digital input 15.

© RAINBOW ROBOTICS Inc. All rights reserved. 380

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4. Internal Circuit Diagram of Digital Input [DI16-DI17]

Device configuration that receives Control Box Digital input [DI16-DI17].

There is an internal 24V supply terminal. A malfunction occurs when an external 24V is
supplied.

5. Digital input characteristics [DI16-DI17]

This applies only to digital inputs 16 and 17.

6. Testing environment
Digital input device test was conducted using Toggle switch, and the following configuration
was tested.

© RAINBOW ROBOTICS Inc. All rights reserved. 381

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7. How to use PNP sensor

Ex source : https://blog.naver.com/mjg5080/97380010

PNP sensor can be used in the same way as above.

This is a specification that applies to all digital inputs.

8. How to connect 3-Position Enabling Device

The initial factory condition is as above, and it is possible to install the operation.
Source : https://www.motionsolutions.com

© RAINBOW ROBOTICS Inc. All rights reserved. 382

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

This applies to Enabling Device in accordance with ISO 10218, IEC 60204-1.

9. How to connect safety equipment

Safety device wiring using PNP type sensor and Enabling Device such as light curtain and
safety door sensor is same as above.

© RAINBOW ROBOTICS Inc. All rights reserved. 383

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX D-2. CONTROL BOX DIGITAL OUTPUT

 Warning
Before connecting the Control Box Digital output port, the power should be turned off.

1. Digital output internal circuit diagram [DO00-DO15]

Device configuration that performs Control Box Digital output [DO00-DO15].

There is internal GND terminal, and it should be connected to GND of external sensor and
equipment to be connected.

2. Digital output device usage [DO00-DO15]

How to use RB Control Box Digital Output Device [DO00-DO15].

© RAINBOW ROBOTICS Inc. All rights reserved. 384

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Load

How to use a single digital output.

Vbb power is supplied inside of the control box and its output is the source.

3. Digital output characteristics [DO00-DO15]

Single channel 1A is possible, but the total current of all channels must be less than 2A

4. Test environment
Digital output device test was conducted using 24Vdc LED and the following configuration
was tested.

© RAINBOW ROBOTICS Inc. All rights reserved. 385

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX D-3. TOOL FLANGE DIGITAL INPUT

 Warning
Before connecting RB Tool Flange I / O input port, the power should be cut off.
 The electrical drawing below is for Non-E type only.

1. Digital input internal circuit diagram [DIA, DIB]

Device configuration for Tool Flange Digital input.

(1) Non-E Version Robot (2) E Version Robot

Exposed connector wiring diagram.

© RAINBOW ROBOTICS Inc. All rights reserved. 386

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2. Digital input characteristics [DIA, DIB]

This is a specification that applies only to Tool Flange Digital input (At this time, only DIA and
DIB for Non-E version Robot are applied.)

3. Test environment
Digital input device test was conducted using power supply, and the following configuration
was tested.

(1) Non-E Version (2) E Version

© RAINBOW ROBOTICS Inc. All rights reserved. 387

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4. How to use PNP sensor

Ex source : https://blog.naver.com/mjg5080/97380010

PNP sensor can be used in the same way as the above connection.
This applies equally to the Control Box Digital input.

© RAINBOW ROBOTICS Inc. All rights reserved. 388

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX D-4. TOOL FLANGE DIGITAL OUTPUT

 Warning
Before connecting the Tool Flange I / O output port, the power should be cut off.
 The electrical drawing below is for Non-E type only.

1. Digital output internal circuit diagram

Device composition for Tool Flange Digital output [DOA, DOB].

(1) Non-E Version Robot (2) E Version Robot

External connector wiring diagram.

© RAINBOW ROBOTICS Inc. All rights reserved. 389

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2. Digital output characteristics

This specification applies only to Tool Flange Digital outputs A and B.

As of July 24, 2019, version of RB5 shipped out is Current Ver 1.

3. Test Environment
Digital output device test was conducted using 24V dc LED and the following configuration
was tested.

(1) Non-E Version (2) E Version

© RAINBOW ROBOTICS Inc. All rights reserved. 390

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The following example is shown in this manual.

4. Precautions when using

Digital output device is NPN type but has internal 10K pullup resistor.
Most devices (LEDs, solenoid valves, relays) can be used in the test environment No. 3 or
with the digital signal application function on commercial grippers. However, they may not
work in the environment using the same voltage distribution as Rainbow Robotics’ tool
flange digital input devices.

When Rainbow Robotics’ digital output is connected to the digital input

© RAINBOW ROBOTICS Inc. All rights reserved. 391

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Low Digital output

Digital input is output low with 0V input.

Digital output high

Digital input may not be recognized depending on the resistance value.

For the diagram above, if the voltage applied to MCU is EVCC 24Vdc, about 2V is applied to it
and is detected as Low.

If users MUST operate as above diagram, digital input stage resistance ratio adjustment is
necessary.

© RAINBOW ROBOTICS Inc. All rights reserved. 392

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX E. EXTERNAL SCRIPT CONTROL API

E.0 Concept
The cooperative robot RB series can be operated for various environments and purposes. It
can be used in conjunction with multiple RB series or other systems. In conjunction with the
vision system, movement coordinates can be changed in real time, or used as part of a
user's existing system.

The user can control the robot with teaching pendant (tablet UI), but it provides a way to
control the robot from any external controller for user convenience or operation.

The RB series receives script commands by default and executes those commands. The
task of writing a motion using the teaching pendant (tablet UI) and executing the script of
the file in order is a general operation method. The following method described in this
document is an alternative method of receiving a command script from another external
device to control a robot of the RB series.

The control syntax provided in the teaching pendant / tablet UI can be implemented by the
user directly from the external control device, and the robot operation commands / IO
control commands are sent according to the user’s use case.

The following document describes an example of driving a robot with the above concepts.

© RAINBOW ROBOTICS Inc. All rights reserved. 393

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

E.1 External Control Script API

The description of the scripts provided in this document looks similar to the scripts in the
“.wsl” work document file, which is written using a tablet as a dedicated script for external
control. Work documents contain statements that control flows such as ‘repeat’, ‘if-else’, and
‘break’, so that the completion of a statement is not directly related to the action, and the
parent sentence of that statement must be completed.

For example, suppose there are Point functions in the Move command function.

1)
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0
}

2)
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0

The difference between 1) and 2) is the presence or absence of “}” at the end. In both cases,
the point statement is complete. However, unlike 1), 2) is a syntax that cannot operate
because the move statement, which is the parent of point, is not completed, and the parser
will wait for the statement to complete.

3)
folder( ) {
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0
}

In the same logic as above, the parser does not run because it waits for the folder statement
to complete.

However, the above method is not suitable for external control method. The user expects the
robot to operate by parsing the command the moment it sends it through external control. It
does not send multiple commands and complete those lines of text like example 3).

© RAINBOW ROBOTICS Inc. All rights reserved. 394

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

So external control must be organized so that each command is sent separately as a string.
External control does not provide any features that control the flow. Commands such as
‘repeat’, ‘if-else’, ‘break’, or ‘wait’ in the work document will not be available externally and
must be replaced by the same structure and logic within the external control.

The following commands are actual motion commands to move the robot. Each one
contains an example string that matches how a user would control the robot from an
external application.

There are five operation commands.

1) jointall
2) movetcp
3) movecircle
4) blend_jnt
5) blend_tcp

1) jointall
Command Jointall
Script jointall spd, acc, joint1, joint2, joint3, joint4, joint5, joint6

This command moves joints in Joint Space.

The input values for joint1 to joint6 in the command denotes

base, shoulder, elbow, wrist1, wrist2 and wrist3 respectively.
Each joint value represents the desired angle to go. The
desired angle should be an absolute angle in degree.

Descript. The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

This command will be ignored if the previous command is

not finished yet.

Example “jointall 0.4, 0.1, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0”

© RAINBOW ROBOTICS Inc. All rights reserved. 395

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2) movetcp

Command Movetcp
Script movetcp spd, acc, x, y, z, rx, ry, rz
This command moves TCP in Cartesian Space.

The input values for x, y, z are used to define the desired

position to go. The values should be a number in mm.

The input values for rx, ry, rz are used to define the desired
orientation to go. It is represented as roll, pitch and yaw in
Euler angle, respectively. The values should be a number in
degree.
Descript.
The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

This command will be ignored if the previous command is

not finished yet.

Example “movetcp 0.4, 0.1, 100.0, 100.0, 300.0, 0.0, 90.0, 0.0”

3) movecircle

Command movecircle(three points mode)

movecircle threepoints orientation_option spd, acc, x1, y1, z1,

Script
rx1, ry1, rz1, x2, y2, z2, rx2, ry2, rz2

This command generates the circular motion of TCP using

three points.

Three options determining the orientation of TCP in drawing

a circle are available in orientation_option.

With ‘intended’, TCP follows the input orientation for mid-

point (rx1, ry1, rz1) and end-point (rx2, ry2, rz2).
Descript.
With ‘constant’, TCP keeps the current orientation during the
circular motion.
With ‘radial’, the TCP orientation changes in a way of the
tangent direction to the center of the circle.

The input values for x1, y1, z1 are used to define the relative
position of TCP at mid-point from the center of the circle. It is
a number in mm.

© RAINBOW ROBOTICS Inc. All rights reserved. 396

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The input values for rx1, ry1, rz1 are used to define the
relative orientation of TCP at mid-point in Euler angle in
respect to the center of the circle. It is a number in degree.

The input values for x2, y2, z2 are used to define the relative
position of TCP at end-point from the center of the circle. It is
a number in mm.

The input values for rx1, ry1, rz1 are used to define the
relative orientation of TCP at end-point in Euler angle in
respect to the center of the circle. It is a number in degree.

The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

This command will be ignored if the previous command is

not finished yet.

“movecircle threepoints intended 0.4, 0.1, 100.0, 100.0, 300.0,

0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”
“movecircle threepoints constant 0.4, 0.1, 100.0, 100.0, 300.0,
Example
0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”
“movecircle threepoints radial 0.4, 0.1, 100.0, 100.0, 300.0,
0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”

© RAINBOW ROBOTICS Inc. All rights reserved. 397

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Command movecircle(axis mode)

movecircle axis orientation_option spd, acc, rot_angle, cx, cy,
Script
cz, ax, ay, az

This command generates the circular motion of TCP using

axes of rotation defined.

Three options determining the orientation of TCP in drawing

a circle are available in orientation_option.
With ‘intended’ or ‘constant’, TCP keeps the current
orientation during the circular motion.
With ‘radial’, the TCP orientation changes in a way of the
tangent direction to the center of the circle.

The input values for cx, cy, cz are used to define the position
of axes of rotation (the center position of the circle). It is a
number in mm.
Descript.
The values for ax, ay, az are used to define the orientation of
axes of rotation. It represents an unit vector.

The input value for rot_angle is used to define the amount of

angle to rotate. It is a number in degree.

The input values for spd and acc are used to define velocity
and acceleration respctively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

This command will be ignored if the previous command is

not finished yet.

“movecircle axis constant 0.4, 0.1, 180.0, 200.0, 200.0, 200.0,

1.0, 0.0, 0.0”
Example
“movecircle axis radial 0.4, 0.1, 180.0, 200.0, 200.0, 200.0, 1.0,
0.0, 0.0”

4) blend_jnt

Command blend_jnt
Script blend_jnt clear_pt
This command deletes all desired joint values previously
defined in the joint blending sequence.
Descript.
This command should be used at the beginning of blend_jnt
programming.
Example “blend_jnt clear_pt”

© RAINBOW ROBOTICS Inc. All rights reserved. 398

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Command blend_jnt
blend_jnt add_pt spd, acc, joint1, joint2, joint3, joint4, joint5,
Script
joint6

This command adds a desired joint value to the joint blending

sequence.

The input values for joint1 to joint6 in the command denotes

base, shoulder, elbow, wrist1, wrist2 and wrist3 respectively.
Each joint value represents the desired angle to go. The
desired angle should be an absolute angle in degree.
Descript.
The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

The speed and acceleration of the motion are defined by spd

and acc in the last command.

Example “blend_jnt add_pt 0.4, 0.1, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0”

Command blend_jnt
Script blend_jnt move_pt

This command runs the joint blending motion.

Descript.
Each joint follows the angles defined in the joint blending
sequence.

Example “blend_jnt move_pt”

5) blend_tcp
Command blend_tcp
Script blend_tcp clear_pt

This command deletes all desired TCP values previously

defined in the TCP blending sequence.
Descript.
This command should be used at the beginning of blend_tcp
programming.

Example “blend_tcp clear_pt”

© RAINBOW ROBOTICS Inc. All rights reserved. 399

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Command blend_tcp
Script blend_tcp add_pt spd, acc, radius, x, y, z, rx, ry, rz

This command adds a desired TCP value to the TCP blending

sequence.

The input value for radius determines the smoothness of

blending. The value is in mm. Arithmetically it is the distance
from the straight line between the first and third points to the
second point. Thus, when it is set to 0, the blending becomes
maximized and the robot skips the second point.

The input values for x, y, z are used to define the desired

position to go. The values should be a number in mm.

Descript. The input values for rx, ry, rz are used to define the desired
orientation to go. It is represented as roll, pitch and yaw in
Euler angle, respectively. The values should be a number in
degree.

The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.

The speed and acceleration of the motion are defined by spd

and acc in the last command.

“blend_tcp add_pt 0.4, 0.1, 30.0, 100.0, 100.0, 300.0, 0.0, 90.0,
Example
0.0”

Command blend_tcp
Script blend_tcp move_pt

This command runs the TCP blending motion.

Descript.
TCP follows the positions and orientations of TCP defined in
the TCP blending sequence.

Example “blend_tcp move_pt”

© RAINBOW ROBOTICS Inc. All rights reserved. 400

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The following scripts are commands to control the output values of the digital and analog
ports of switchboards and tool flanges.

There are three commands.

1) digital_out
2) analog_out
3) tool_out

1) digital_out
digital_out d0, d1, d2, d3, d4, d5, d6, d7, d8, d9, d10, d11, d12,
Script
d13, d14, d15
This command generates a signal through the digital output
port.

The input values for d0 to d15 are used to activate the port.
The number should be 0 or 1. 0 and 1 mean off and on,
Descript.
respectively.

-1 can be used other than 0 or 1. In this case, the port with -1

keeps the previous status.

Example “digital_out 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1, -1, -1, -1, -1”

2) analog_out
Script analog_out a0, a1, a2, a3

This command generates a signal through the analog output

port.

The input values for a0 to a3 are the output voltage of the

Descript.
port. The voltage should be a number between 0 and 10.

-1 can be used other than a number between 0 and 10. In this

case, the port with -1 keeps the previous voltage.

Example “analog_out 5.0, 5.0, -1, -1”

3) tool_out
Script tool_out volt, d0, d1
This command sets the voltage and corresponding digital
output ports at the tool flange.
Descript.
The input value for volt is used to set the voltage to generate.

© RAINBOW ROBOTICS Inc. All rights reserved. 401

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The value should be 0, 12 or 24. Any number other than that

will be ignored.

-1 can be used to keep the voltage previously defined.

The input values for d0 to d1 are used to activate the port.

The number should be 0 or 1. 0 and 1 mean off and on,
respectively.

-1 can be used other than 0 or 1. In this case, the port with -1

keeps the previous status.
Example “tool_out 12, 1, 0”

The following commands are for initialization, termination, and operation mode changes
speed change.

1) mc
2) shutdown
3) pgmode
4) sdw

1) mc
Script mc jall init
This command starts initialization process.
Descript.

Example “mc jall init”

2) shutdown
Script shutdown
Descript. This command terminates the robot operation and turns off
the power.

Example “shutdown”

3) pgmode
Script pgmode mode_type
This command changes the mode between real and
simulation modes.
Descript.
The input values for mode_type should be “real” or
“simulation”.
In “real”, the robot moves when commanded.

© RAINBOW ROBOTICS Inc. All rights reserved. 402

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

In “simulation”, the robot does not moves but the internal

reference values changes.

The default is “simulation”.

“pgmode real”
Example
“pgmode simulation”

4) sdw (shared data write)

Script sdw default_speed spd
This command set the speed of the motion for overall
program.

The input value for spd is a number between 0 and 1. Smaller

value means slower. When the value is 0, the robot does not
move even if a command is executed. In this case, the
Descript.
reference value does not change either.

When the pendent is connected to the robot while script

programming is running, the speed can be adjusted via the
pendent. Robot always follows the speed at the last
command.
Example “sdw default_speed 0.5”

© RAINBOW ROBOTICS Inc. All rights reserved. 403

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The last command explained is the task script.

task
Script task load work_file_name

This command loads a work file previously programmed.

The format of the work file is “.wsl”. The input value for
Descript. work_file_name is the path and file name without “.wsl”

If the file is saved via the pendent, the file can be loaded
without connecting to the pendent.

Example “task load test_file”

Script task play option

This command runs the loaded work file.

The input value for option is blank or ‘once’.

Descript.
When option leaves empty, it repeatedly runs the work file until the
number of repetition is met.

When ‘once’ is set, it runs the work file once.

“task play”
Example
“task play once”

Script task repeat num

This command sets the number of repetition for the work file.

The ‘input value for num’ is the number of repetition. The

number should be an integer.
Descript. -1 can be used to run the work file unlimitedly.

The number of repetition set by this command is maintained

until power off. After rebooting the robot, this value is set by a
number in the pendent.

“task repeat 5”
Example
“task repeat -1”

© RAINBOW ROBOTICS Inc. All rights reserved. 404

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Script task pause

Descript. This command pauses the motion.
To resume the motion, use “task resume_a” command.
During pausing, the robot ignores all other commands.
Example “task pause”

Script task stop

This command completely terminates the motion.

Descript. This command results in immediate stop of the motion. It is

recommended to use ‘task pause’ before this command to
smoothly stop the motion.

Example “task stop”

Script task resume_a

This command resumes the moiton paused by “task pause”,

Descript.
“alarm” or “debug”.

Example “task resume_a”

Script task resume_b

Descript. This command resumes the motion paused by the collision.

Example “task resume_b”

In order to use external control, the external computer must be connected to the control box.
The connection uses TCP / IP communication and the corresponding IP address can be set
in the pendant. The result is displayed on the screen on control panel. Ports 5000 and 5001
open for external control. Port 5000 is a port for receiving commands, and port 5001 is a
port for requesting and sending data indicating robot status. For convenience, port 5000 is
called the command port and port 5001 is called the data port.

The user can send the script command described above to the command port. The
command port has a filter for the first command, so if the start is not a script command as
described above, such as ‘jointall’, ‘movetcp’, ‘mc’, ‘pgmode’, etc., the response shows, "The
command is not allowed." If the command starts with a normal command and passes the
input statement to the parser, the response shows, “The command was executed.”

© RAINBOW ROBOTICS Inc. All rights reserved. 405

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

When the command “reqdata” is sent to the data port, robot status information is sent to the
data port in response. The format of the data is shown below.

Header (4 Byte) Data (n Byte)

0x24 Size&0xFF (Size>>8)&0xFF 0x03 Data

The format of the data is shown below. Depending on the system version, the size of the
data may be different. However, the order is consistent, please refer to the table below.

Offset Type Description

Task Time elapsed in second (reset at the beginning of
0 Float
the task)
1 Float Reference angle of base joint in degree.
2 Float Reference angle of shoulder joint in degree.
3 Float Reference angle of elbow joint in degree.
4 Float Reference angle of wrist1 joint in degree.
5 Float Reference angle of wrist2 joint in degree.
6 Float Reference angle of wrist3 joint in degree.
7 Float Encoder angle of base joint in degree.
8 Float Encoder angle of shoulder joint in degree.
9 Float Encoder angle of elbow joint in degree.
10 Float Encoder angle of wrist1 joint in degree.
11 Float Encoder angle of wrist2 joint in degree.
12 Float Encoder angle of wrist3 joint in degree.
13 Float Current value of base joint in ampere
14 Float Current value of shoulder joint in ampere.
15 Float Current value of elbow joint in ampere.
16 Float Current value of wrist1 joint in ampere.
17 Float Current value of wrist2 joint in ampere.
18 Float Current value of wrist3 joint in ampere.
19 Float Reference position of TCP in X direction in mm.
20 Float Reference position of TCP in Y direction in mm.
21 Float Reference position of TCP in Z direction in mm.
22 Float Reference orientation of TCP in Roll (RX) in degree.
23 Float Reference orientation of TCP in Pitch (RY) in degree.

© RAINBOW ROBOTICS Inc. All rights reserved. 406

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

24 Float Reference orientation of TCP in Yaw (RZ) in degree.

25 Float Same as 19.
26 Float Same as 20.
27 Float Same as 21.
28 Float Same as 22.
29 Float Same as 23.
30 Float Same as 24.
31 Float Voltage at analog input port #0.
32 Float Voltage at analog input port #1.
33 Float Voltage at analog input port #2.
34 Float Voltage at analog input port #3.
35 Float Voltage at analog output port #0.
36 Float Voltage at analog output port #1.
37 Float Voltage at analog output port #2.
38 Float Voltage at analog output port #3.
39 Int On/Off status at digital input port #0 (on:1 / off:0).
40 Int On/Off status at digital input port #1 (on:1 / off:0).
41 Int On/Off status at digital input port #2 (on:1 / off:0).
42 Int On/Off status at digital input port #3 (on:1 / off:0).
43 Int On/Off status at digital input port #4 (on:1 / off:0).
44 Int On/Off status at digital input port #5 (on:1 / off:0).
45 Int On/Off status at digital input port #6 (on:1 / off:0).
46 Int On/Off status at digital input port #7 (on:1 / off:0).
47 Int On/Off status at digital input port #8 (on:1 / off:0).
48 Int On/Off status at digital input port #9 (on:1 / off:0).
49 Int On/Off status at digital input port #10 (on:1 / off:0).
50 Int On/Off status at digital input port #11 (on:1 / off:0).
51 Int On/Off status at digital input port #12 (on:1 / off:0).
52 Int On/Off status at digital input port #3 (on:1 / off:0).
53 Int On/Off status at digital input port #14 (on:1 / off:0).
54 Int On/Off status at digital input port #15 (on:1 / off:0).
55 Int On/Off status at digital output port #0 (on:1 / off:0).
56 Int On/Off status at digital output port #1 (on:1 / off:0).
57 Int On/Off status at digital output port #2 (on:1 / off:0).
58 Int On/Off status at digital output port #3 (on:1 / off:0).

© RAINBOW ROBOTICS Inc. All rights reserved. 407

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

59 Int On/Off status at digital output port #4 (on:1 / off:0).

60 Int On/Off status at digital output port #5 (on:1 / off:0).
61 Int On/Off status at digital output port #6 (on:1 / off:0).
62 Int On/Off status at digital output port #7 (on:1 / off:0).
63 Int On/Off status at digital output port #8 (on:1 / off:0).
64 Int On/Off status at digital output port #9 (on:1 / off:0).
65 Int On/Off status at digital output port #10 (on:1 / off:0).
66 Int On/Off status at digital output port #11 (on:1 / off:0).
67 Int On/Off status at digital output port #12 (on:1 / off:0).
68 Int On/Off status at digital output port #13 (on:1 / off:0).
69 Int On/Off status at digital output port #14 (on:1 / off:0).
70 Int On/Off status at digital output port #15 (on:1 / off:0).
71 Float Temperature of motor drive at base joint in Celsius.
72 Float Temperature of motor drive at shoulder joint in Celsius.
73 Float Temperature of motor drive at elbow joint in Celsius.
74 Float Temperature of motor drive at wrist1 joint in Celsius.
75 Float Temperature of motor drive at wrist2 joint in Celsius.
76 Float Temperature of motor drive at wrist3 joint in Celsius.
Location of program counter in the task (The location
77 Int
where Step command executes).
78 Int Desired number of repetitions.
79 Int Current action number of the task.
80 Int Current number of repetitions.
Task time elapsed in seconds (not reset at the
81 Float
beginning of the task)
82 Int Task status (1: Idle, 2: Paused, 3: Run)
83 Float Motion speed (0~1).
84 Float Robot status (1: stopped, 3: in operation)
Status of power in terms of LSB offset
0: 48V input
1: 48V output
85 Float 2: 24V status
3: E-stop status
4: PC switch status
5: Motion controller status
86 Float Not used
87 Float Not used
88 Float Not used
89 Float Not used

© RAINBOW ROBOTICS Inc. All rights reserved. 408

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

90 Float Not used

91 Float Not used
92 Int Status of motor controller at base joint.
93 Int Status of motor controller at shoulder joint.
94 Int Status of motor controller at elbow joint.
95 Int Status of motor controller at wrist1 joint.
96 Int Status of motor controller at wrist2 joint.
97 Int Status of motor controller at wrist3 joint.
Status of motor controller in terms of LSB offset.
0: FET
1: Position control
2: Status of initialization
3: In control mode
4: Nonius error
5: Low battery
6: Calibration mode
7: Multiturn error
8: JAM error
9: Over Current error
10: Big error
11: Input error
12: FET drive error
13: Temperature error
14: Position error (Low)
15: Position error (High)
98 Int On/Off collision detection (1:on, 0:off)
99 Int On/Off teaching mode (1:on, 0:off)
100 Int Operation mode (1:simulation mode, 0:real mode)
Information of initialization process
0: Default
1: Voltage check
2: Device check
101 Int
3: Position control start
4: Parameter check
5: Collision check
6: Initialization done
Error codes in initialization
0: Initialization completed without error
1: SMPS error
2: E-Stop switch error
3: Power conversion error 1 (in control box)
102 Int 4: Power conversion error 2 (in control box)
5: Connection error
6: Initialization error
7: Payload setting inspection error
8: Tool flange connection error
9: Tool flange orientation error

© RAINBOW ROBOTICS Inc. All rights reserved. 409

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

10: Motor controller encoder error 1

11: Motor controller encoder error 2
12: Digital input 16/17 short error
13: 48V switch error
14: Teaching button error
103 Float Voltage of analog signal port #0 at tool flange.
104 Float Voltage of analog signal port #1 at tool flange.
On/Off status of digital signal port #0 at tool flange
105 Int
(on:1 / off:0).
On/Off status of digital signal port #1 at tool flange
106 Int
(on:1 / off:0).
On/Off output status of digital signal port #0 at tool
107 Int
flange (on:1 / off:0).
On/Off output status of digital signal port #1 at tool
108 Int
flange (on:1 / off:0)
109 Float Voltage output at tool flange.
110 Int Status of collision (detected:1)
Status of device errors
0: No error
1: PVL error
2: CPU error
3: Big error
4: Input error
5: JAM error
111 Int
6: Over current error
7: Joint angle error
8: Control mode error
9: Offset error between reference and encoder
10: Current error at upper level controller
11: Temperature error
12: Speed error in teaching
112 Int Self collision detection (on:1 / off:0)
113 Int Robot paused (paused:1)
Status of motion errors
0: No error
1: TCP motion commanded when the robot is fully
114 Int stretched out.
2: TCP command unreachable
3: Joint command crossed mechanical limit
4: TCP command singularity
115 Int On/Off status of digital input port #16 (on:1 / off:0).
116 Int On/Off status of digital input port #17 (on:1 / off:0).
117 Int Inbox 0 Trap occurred
118 Int Inbox 1 Trap occurred
119 Int Inbox 0 check mode
120 Int Inbox 1 check mode

© RAINBOW ROBOTICS Inc. All rights reserved. 410

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

E.2 Example Program Development Environment

This example has been tested on Debian 9.8 and Ubuntu 18.04. It may work on similar Linux
systems. No separate kernel patch is required.

As an integrated development environment (IDE) for programming, use Qt version 5.8

(https://www.qt.io).

Warning
Warning:

Qt-based C ++ examples, Visual Studio-based C # examples, and more. Sample programs

can be obtained from the manufacturer or distributor.

© RAINBOW ROBOTICS Inc. All rights reserved. 411

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

E.3 Programming Method

This example does not include all the functionality provided by the tablet user interface (UI).
Only the information that is useful for monitoring by the user while moving the robot through
external control is implemented.

The following image is the programming UI when the example program is executed.

The function of each item is as follows.

1) Network Connection
Connect to the robot's main controller through the LAN port on the control box of
the RB5 robot. The default IP address for external control is fixed at '10 .0.2.7 '. The
server for receiving external control commands connects to port 5000, and the
server for requesting and receiving robot status information connects to port 5001.
There is a separate button for connecting each one. If the connection is successful,
the word 'Connect' on the button is changed to 'Disconnect'. The reverse happens
when the connection is lost.

© RAINBOW ROBOTICS Inc. All rights reserved. 412

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

2) Initializing the Robot

After connecting to the robot's main controller press the button marked ‘Cobot Init’ to
start the initialization process. Robots go through a series of processes called ‘Power
Set’, ‘Device Set’, ‘System Set’ and ‘Robot Init’. As robot’s initialization process
continues, the white edit box in front of each course turns yellow. Processes that
have been completed turn green and processes that have not been performed remain
red. When all four boxes turn green, the robot's initialization process is complete and
ready for use.

3) Robot Status
The status of the robot can be known from the data received from the main program
in the control box. This data is sent to the main program in response to a request for
"reqdata" on port 5001. The format of the data is passed in the form of the
'systemSTAT' structure in 'CommonHeader.h'.

run mode: Displays the operation mode of the robot. There are real mode and
simulation mode. In real mode, motion commands are actually applied to the robot
and the robot moves. In simulation mode, the motion is performed but the command
is not sent to the robot. The teaching pendant will show the translucent robot moving.
The robot operation mode is represented by the value of the 'program_mode' variable
in 'systemSTAT'. A value of 0 for this variable is real mode, and a value of 1 for
simulation mode.

robot state: Indicates whether the robot is currently moving or in a state capable of
receiving motion commands. The robot state can be known from the value of the
'robot_state' variable of 'systemSTAT'. If this value is 1, the idle state can receive
motion commands. If the value is 3, the robot is moving. Motion commands are
ignored while the robot is in motion. If the value is 2, the robot is stopped due to
unspecified reasons or stopped by the pause command. In this case, it is displayed
as paused in the ‘status’ column.

status: Displays current robot special operation status or abnormal status as follows.
Possible ones are ‘teaching’ if teaching directly, ‘ext. collision’ if stopped by external
collision detection, ‘self-collision’ if it is just before self-collision during operation,
‘paused’ if stopped by pause command, ‘ems’ if input without solution in robot
control algorithm comes in. Power problem or robot control problem will change the
color of the ‘sos’ edit window. This is displayed by referring to the values of
'op_stat_collision_occur', 'op_stat_sos_flag', 'op_stat_self_collision',
'op_stat_soft_estop_occur', 'op_stat_ems_flag' and 'robot_state' in 'systemSTAT'.

© RAINBOW ROBOTICS Inc. All rights reserved. 413

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

joint reference: Displays the reference input value for each joint (in degrees).
joint encoder: Displays the current encoder value of each joint (in degrees).
TCP reference: Displays the reference position value of TCP (in mm and degree).
digital in: Displays the digital input value of the control box.
digital out: Displays the digital output value of the control box.
analog in: Displays the analog input value of the control box (in voltage).
analog out: Displays the analog output value of the control box (in voltage).
tool out voltage: Displays the output voltage of the currently set tool flange board (0V,
12V or 24V).
tool digital in: Displays the digital input value of the tool flange board.
tool digital out: Displays the digital output value of the tool flange board.
tool analog in: Displays the analog input value of the tool flange board

4) Mode Change
The robot can have two modes of operation (Simulation mode and Real mode). In
Simulation mode, the robot does not move but the value of the input reference can be
changed. In Real mode, the robot actually moves in response to user input. To
change the robot's operation mode, press the ‘Real’ and ‘Simulation’ marked buttons.
Immediately after the initialization process, the robot is in Simulation mode.

5) Speed Change
Adjust the overall speed of robot motion. Users can move the slider bar between 0%
and 100%. This speed is multiplied by the speed given to the robot's motion
command.

6) Stop and Resume Motion

Press the 'Motion Pause' button to pause and press 'Motion Halt' to completely stop
the motion. In the case of ‘Motion Halt’, the robot stops abruptly, so it is
recommended to use pause first in order to stably use the robot. If the robot is in the
paused state, it will not be operated even if another robot is given a motion command.
In order to stop the current operation and perform another operation, the current
operation must be completely finished through the 'Motion Halt' button after the
'Motion Pause' button.

Conversely, users can resume motion paused or stopped by external collision

detection. Press the ‘Motion Resume’ button to resume a paused motion or press the
‘Collision Resume’ button to resume a motion stopped due to external collision
detection.

© RAINBOW ROBOTICS Inc. All rights reserved. 414

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

7) Debugging Message Screen

This is the window where users can view messages for debugging.

8) Test Motion
Press the ‘Motion Test’ button to perform three basic motions in sequence. Please
consider the environment around the robot.

If the user presses the ‘Get Joint and TCP’ button, the reference angle and TCP value
of the current robot's joint will be expressed using the ',' separator in the edit window
next to it. It is helpful to copy this value when coding the robot motion sequence into
the program.

This example is a single process example with a GUI. In Qt, users can easily place the GUI,
generate events like button clicks, and associate them with user’s program. Refer to
‘mainwindow.ui’.

© RAINBOW ROBOTICS Inc. All rights reserved. 415

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The core contents of the example are included in ‘mainwindow.cpp’ and ‘mainwindow.h’. In
‘CommonHeader.h’, users can check the shape of the robot status data.

© RAINBOW ROBOTICS Inc. All rights reserved. 416

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The robot control commands that can be used by the user are specified in 'mainwindow.h' as
above. The detailed description is as follows.

Function CobotInit(void)

Script “mc jall init”

This commande starts initialization process.

Descript.
Progress in initialization is shown in ‘init_stat_info’ and
‘init_error’ inside ‘systemSTAT’.

MoveJoint(float joint1, float joint2, float joint3, float joint4,

Function
float joint5, float joint6, float spd = -1, float acc = -1);

Script “jointall spd, acc, joint1, joint2, joint3, joint4, joint5, joint6”

This command moves joints to the desired angles in Joint

Space
Descript.
Please refer to script programming.

MoveTCP(float x, float y, float z, float rx, float ry, float rz, float
Function
spd = -1, float acc = -1);

Script “movetcp spd, acc, x, y, z, rx, ry, rz”

This command moves TCP to the given position and

orientation in Cartesian Space.
Descript.
Please refer to script programming.

© RAINBOW ROBOTICS Inc. All rights reserved. 417

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

MoveCircle_ThreePoint(int type, float x1, float y1, float z1,

Function float rx1, float ry1, float rz1, float x2, float y2, float z2, float rx2,
float ry2, float rz2, float spd = -1, float acc = -1);

“movecircle threepoints intended spd, acc, x1, y1, z1, rx1, ry1,
rz1, x2, y2, z2, rx2, ry2, rz2”

“movecircle threepoints constant spd, acc, x1, y1, z1, rx1, ry1,
Script
rz1, x2, y2, z2, rx2, ry2, rz2”

“movecircle threepoints radial spd, acc, x1, y1, z1, rx1, ry1, rz1,
x2, y2, z2, rx2, ry2, rz2”

This command generates the circular motion of TCP using

three points.

type=0 : ‘intended’ in script programming

Descript. type=1 : ‘constant’ in script programming

type=2 : ‘radial’ in script programming

Please refer to script programming.

MoveCircle_Axis(int type, float cx, float cy, float cz, float ax,
Function
float ay, float az, float rot_angle, float spd = -1, float acc = -1);

“movecircle axis intended spd, acc, rot_angle, cx, cy, cz, ax, ay,
az”

Script “movecircle axis constant spd, acc, rot_angle, cx, cy, cz, ax, ay,
az”

“movecircle axis radial spd, acc, rot_angle, cx, cy, cz, ax, ay, az”

This command generates the circular motion of TCP using

axes of rotation defined.

type=0 : ‘intended’ in script programming

Descript. type=1 : ‘constant’ in script programming

type=2 : ‘radial’ in script programming

Please refer to script programming.

© RAINBOW ROBOTICS Inc. All rights reserved. 418

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Function MoveJointBlend_Clear(void);

Script “blend_jnt clear_pt”

This command deletes all desired joint values previously

Descript. defined in the joint blending sequence.
Please refer to script programming.

MoveJointBlend_AddPoint(float joint1, float joint2, float joint3,

Function float joint4, float joint5, float joint6, float spd = -1, float acc = -
1);

“blend_jnt add_pt spd, acc, joint1, joint2, joint3, joint4, joint5,

Script
joint6”

This command adds a desired joint value to the joint blending

Descript. sequence.
Please refer to script programming.

Function MoveJointBlend_MovePoint(void);

Script “blend_jnt move_pt”

This command runs the joint blending motion.

Descript.
Please refer to script programming.

Function MoveTCPBlend_Clear(void);

Script “blend_tcp clear_pt”

This command delete all desired TCP values previously

Descript. defined in the TCP blending sequence.
Please refer to script programming.

© RAINBOW ROBOTICS Inc. All rights reserved. 419

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

MoveTCPBlend_AddPoint(float radius, float x, float y, float z,

Function
float rx, float ry, float rz, float spd = -1, float acc = -1);

Script “blend_tcp add_pt spd, acc, radius, x, y, z, rx, ry, rz”

This command adds a desired TCP value to the TCP blending

Descript. sequence.
Please refer to script programming.

Function MoveTCPBlend_MovePoint(void);

Script “blend_tcp move_pt”

This command runs the TCP blending motion.

Descript.
Please refer to script programming.

ControlBoxDigitalOut(int d0, int d1, int d2, int d3, int d4, int d5,
Function int d6, int d7, int d8, int d9, int d10, int d11, int d12, int d13, int
d14, int d15)

“digital_out d0, d1, d2, d3, d4,d5, d6, d7, d8, d9, d10, d11, d12,
Script
d13, d14, d15”

This command generates a signal through the digital output

port.
Descript.
Please refer to script programming.

© RAINBOW ROBOTICS Inc. All rights reserved. 420

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Function ControlBoxAnalogOut(float a0, float a1, float a2, float a3)

Script “analog_out a0, a1, a2, a3”

This command generates a signal through the analog output

port.
Descript.
Please refer to script programming.

Function ToolOut(int volt, int d0, int d1)

Script “tool_out volt, d0, d1”

This command sets the voltage and corresponding digital

output ports at the tool flange.
Descript.
Please refer to script programming.

Function ProgramMode_Real(void)

Script “pgmode real”

Descript. This command changes operation mode to Real Mode.

Function ProgramMode_Simulation(void)

Script “pgmode simulation”

Descript. This command changes operation mode to Simulation Mode

© RAINBOW ROBOTICS Inc. All rights reserved. 421

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Function BaseSpeedChange(float spd)

Script “sdw default_speed spd”

This command sets the speed of the motion for overall

Descript. program.
Please refer to script programming.

Function MotionPause(void)

Script “task pause”

This command pauses the motion.

Please refer to script programming.

Descript.
To execute the other commands, the robot should be resumed
by MotionResume or terminated by MotionHalt.

Function MotionResume(void)

Script “task resume_a”

This command resumes the motion paused by MotionPause.

Descript.
The command does not resume the motion paused by a
collision.

© RAINBOW ROBOTICS Inc. All rights reserved. 422

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Function CollisionResume(void)

Script “task resume_b”

This command resumes the motion paused by a collision.

Descript.
This command does not resume the motion paused by
MotionPause.

Function MotionHalt(void)

Script “task stop”

Descript. This command terminates the motion completely.

© RAINBOW ROBOTICS Inc. All rights reserved. 423

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The code above is an action code that performs two joint control motions and one TCP
control motion sequentially. There is a ‘test_flag’ which decides whether or not to execute
the motion sequence, and if this value is true, it moves sequentially from the previous motion
to the next motion according to the ‘test_state’ value indicating the progress of the sequence.

At this point, check whether the previous motion is over or not, and there is an ‘IsMotionIdle’
function to make it easier. This function sends instructions to the robot's main controller.

© RAINBOW ROBOTICS Inc. All rights reserved. 424

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

The ‘onLogic’ function, which contains an action sequence, is linked to a timer provided by
Qt. In this example, it is set at 10ms intervals, and this function is executed every 10ms.

Executing robot motion is simple. Set the 'test_state' value representing the motion
sequence state to 0, the starting point of the motion, and set the 'test_flag' value to perform
the motion to move the robot.

The behavior shown in the example code provided is very simple, but also free from
structure constraints. Users can build their own application based on this example code, or
build a separate application by understanding only the script.

© RAINBOW ROBOTICS Inc. All rights reserved. 425

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX F. COORDINATE SYSTEM

 Global Coordinate (Base coordinate)

Once the robot is fixed with the coordinate system fixed to the base of the robot, the
global coordinate system is also fixed.
The center of the base surface is the origin. Set the robot direction to the + Z
direction from the origin and the connector direction to the + Y direction from the
origin.

 Local Coordinate (Tool coordinate)

Coordinate system fixed to TCP (Tool Center Point) of the robot, the direction of the
axis changes in real time by setting or moving the TCP offset.
Set TCP as the origin and set the robot direction from the origin to the + Y direction
and the teach button direction from the origin to the + Z direction.

© RAINBOW ROBOTICS Inc. All rights reserved. 426

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX G. STOPPING TIME/DISTANCE

In the RB Series of collaborative robots, the time and distance between the robots stop and
the distance are generated by the safety monitoring function.

The graph below shows the stop time and stop distance for stop category 1 for Joint 0
(Base axis), Joint 1 (Shoulder axis), and Joint 2 (Elbow axis).

Warning
Depending on the situation, the actual stop motion may differ from the results below. Joint 0
is the result of horizontal movement, and Joint 1 and 2 are the result of vertical downward
movement. For the length of the arm, the maximum length is applied.

RB5-850E Series Base (Joint 0)

Stop Distance (mm) Stop Time (sec)
Test 1 183.38 0.19
Test 2 160.1 0.24
Test 3 191.03 0.24
Maximum 191.03 0.24
Average 178.17 0.22
Condition Max. Reach / Max. Velocity / Horizontal Motion

RB5-850E Series Shoulder (Joint 1)

Stop Distance (mm) Stop Time (sec)
Test 1 183.71 0.13
Test 2 177.53 0.13
Test 3 183.39 0.21
Maximum 183.71 0.21
Average 181.54 0.16
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

RB5-850E Series Elbow (Joint 2)

Stop Distance (mm) Stop Time (sec)
Test 1 90.935 0.14
Test 2 94.809 0.14
Test 3 81.987 0.14
Maximum 94.809 0.14
Average 89.24 0.14
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

© RAINBOW ROBOTICS Inc. All rights reserved. 427

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

RB3-1200E Series Base (Joint 0)

Stop Distance (mm) Stop Time (sec)
Test 1 108.0 0.20
Test 2 96.5 0.19
Test 3 94.9 0.19
Maximum 108.0 0.20
Average 99.8 0.19
Condition Max. Reach / Max. Velocity / Horizontal Motion

RB3-1200E Series Shoulder (Joint 1)

Stop Distance (mm) Stop Time (sec)
Test 1 181.5 0.21
Test 2 156.0 0.19
Test 3 153.9 0.21
Maximum 181.5 0.21
Average 163.8 0.20
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

RB3-1200E Series Elbow (Joint 2)

Stop Distance (mm) Stop Time (sec)
Test 1 56.4 0.12
Test 2 52.8 0.14
Test 3 42.7 0.06
Maximum 56.4 0.14
Average 50.6 0.11
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

© RAINBOW ROBOTICS Inc. All rights reserved. 428

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

RB10-1300E Series Base (Joint 0)

Stop Distance (mm) Stop Time (sec)
Test 1 76.29 0.17
Test 2 86.43 0.19
Test 3 76.96 0.21
Maximum 86.43 0.21
Average 79.89 0.19
Condition Max. Reach / Max. Velocity / Horizontal Motion

RB10-1300E Series Shoulder (Joint 1)

Stop Distance (mm) Stop Time (sec)
Test 1 132.68 0.21
Test 2 130.38 0.20
Test 3 147.32 0.24
Maximum 147.32 0.24
Average 136.79 0.22
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

RB10-1300E Series Elbow (Joint 2)

Stop Distance (mm) Stop Time (sec)
Test 1 39.66 0.14
Test 2 43.82 0.15
Test 3 45.75 0.12
Maximum 45.75 0.15
Average 43.07 0.14
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

© RAINBOW ROBOTICS Inc. All rights reserved. 429

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

RB16-900E Series Base (Joint 0)

Stop Distance (mm) Stop Time (sec)
Test 1 218.1 0.31
Test 2 209.9 0.28
Test 3 218.9 0.29
Maximum 218.9 0.31
Average 215.6 0.29
Condition Max. Reach / Max. Velocity / Horizontal Motion

RB16-900E Series Shoulder (Joint 1)

Stop Distance (mm) Stop Time (sec)
Test 1 244.0 0.30
Test 2 233.5 0.31
Test 3 219.6 0.25
Maximum 244.0 0.31
Average 232.4 0.29
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

RB16-900E Series Elbow (Joint 2)

Stop Distance (mm) Stop Time (sec)
Test 1 155.7 0.32
Test 2 148.0 0.24
Test 3 129.8 0.30
Maximum 155.7 0.32
Average 144.5 0.29
Condition Max. Reach / Max. Velocity / Vertical Downward Motion

© RAINBOW ROBOTICS Inc. All rights reserved. 430

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX H. NAMEPLATE
The nameplate of the robot is divided into the robot arm and the control box as shown below.

[ Robot Arm ]
 RB5-850E Series

 RB3-1200E Series

© RAINBOW ROBOTICS Inc. All rights reserved. 431

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 RB10-1300E Series

© RAINBOW ROBOTICS Inc. All rights reserved. 432

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

 RB16-900E Series

© RAINBOW ROBOTICS Inc. All rights reserved. 433

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

[Control Box]
 RB5-850E Series, RB3-1200E Series: Stand type(CB04)

 RB10-1300E Series: Stand type(CB05)

 RB16-900E Series: Stand type(CB05)

© RAINBOW ROBOTICS Inc. All rights reserved. 434

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX I. MODBUS TCP SERVER

 Warning
This manual describes the Modbus server (slave controller). See Section 6 for a
description of the Modbus client features.

1. Overview
RB's Modbus TCP server (slave controller) is fixed at port number 502. The IP address
changes depending on the network settings through the UI. (The initial IP address is
10.0.2.7.)
RB's Modbus server allows the connection of multiple clients and executes the following
operation commands.

Function Code Function Name

2 Read Discrete Inputs
Bit 1 Read Coils
Address 5 Write Single Coil
15 Write Multiple Coils
4 Read Input Registers
16-bit 3 Read Multiple Holding Registers
(Word)
6 Write Single Holding Register
Address
16 Write Multiple Holding Registers

2. Exception Code
The following error message is returned when accessing the wrong address, incorrect range
of values, or invalid command sent.

Exception Code Exception Name

1 Illegal Function
2 Illegal Data Address
3 Illegal Value

© RAINBOW ROBOTICS Inc. All rights reserved. 435

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3. Bit Address Map

Bit Address
Address Function Read Write
0 Box digital input 0 o x
1 Box digital input 1 o x
2 Box digital input 2 o x
3 Box digital input 3 o x
4 Box digital input 4 o x
5 Box digital input 5 o x
6 Box digital input 6 o x
7 Box digital input 7 o x
8 Box digital input 8 o x
9 Box digital input 9 o x
10 Box digital input 10 o x
11 Box digital input 11 o x
12 Box digital input 12 o x
13 Box digital input 13 o x
14 Box digital input 14 o x
15 Box digital input 15 o x
16 Box digital output 0 o o
17 Box digital output 1 o o
18 Box digital output 2 o o
19 Box digital output 3 o o
20 Box digital output 4 o o
21 Box digital output 5 o o
22 Box digital output 6 o o
23 Box digital output 7 o o
24 Box digital output 8 o o
25 Box digital output 9 o o
26 Box digital output 10 o o
27 Box digital output 11 o o
28 Box digital output 12 o o
29 Box digital output 13 o o
30 Box digital output 14 o o
31 Box digital output 15 o o
32 Tool digital input 0 o x
33 Tool digital input 1 o x
34 Tool digital output 0 o o
35 Tool digital output 1 o o

© RAINBOW ROBOTICS Inc. All rights reserved. 436

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4. Word(16 bit) Address Map

Word Address
Address Function Read Write Comments
Box digital input [BBBB BBBB BBBB
0 o x
0~15 BBBB]
Box digital output [BBBB BBBB BBBB
1 o o
0~15 BBBB]
2 Box analog input 0 o x 1mV unit
3 Box analog input 1 o x 1mV unit
4 Box analog input 2 o x 1mV unit
5 Box analog input 3 o x 1mV unit
6 Box analog output 0 o o 1mV unit
7 Box analog output 1 o o 1mV unit
8 Box analog output 2 o o 1mV unit
9 Box analog output 3 o o 1mV unit
Extend digital input [BBBB BBBB BBBB
10 o x
0~15 BBBB]
Extend digital output [BBBB BBBB BBBB
11 o x
0~15 BBBB]
12 Extend analog input 0 o x 1mV unit
13 Extend analog input 1 o x 1mV unit
14 Extend analog input 2 o x 1mV unit
15 Extend analog input 3 o x 1mV unit
Extend analog output
16 o o 1mV unit
0
Extend analog output
17 o o 1mV unit
1
Extend analog output
18 o o 1mV unit
2
Extend analog output
19 o o 1mV unit
3
20~29 Reserved (Box IO)
30 Tool output voltage o o 0, 12, 24
31 Tool digital input 0~1 o x [TTxx xxxx xxxx xxxx]
Tool digital output
32 o o [TTxx xxxx xxxx xxxx]
0~1
33 Tool analog input 0 o x 1mV unit
34 Tool analog input 1 o x 1mV unit
35~49 Reserved (Tool IO)
50 Is Robot Activated o x 0 or 1
51 Is Real-mode o x 0 or 1
52 Is Collision Detected o x 0 or 1
Is Robot arm power
53 o x 0 or 1
engaged

© RAINBOW ROBOTICS Inc. All rights reserved. 437

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Is Direct Teaching
54 o x 0 or 1
mode
55 Is Robot moving o x 0 or 1
56 Is Pause state o x 0 or 1
Is Teaching pendant
57 o x 0 or 1
is connected
58 Is Program Run o x 0 or 1
59 Is No-Arc mode is on o x 0 or 1
Is EMG button
60 o x 0 or 1
released
61 Is First Program Run o x 0 or 1
62~99 Reserved (Future System)
Command: Start Rising Edge is
100 o o
Program Once command
Command: Start Rising Edge is
101 o o
Program Repeat command
Command: Pause Rising Edge is
102 o o
Program command
Command: Stop Rising Edge is
103 o o
Program command
Command: Resume Rising Edge is
104 o o
from pause command
Command: Resume Rising Edge is
105 o o
from collision command
Command: Load Rising Edge is
106 o o
default Program command
Command: Robot Rising Edge is
107 o o
Arm activation command
Command: Change Rising Edge is
108 o o
to Real-mode command
Command: Power off Rising Edge is
109 o o
the robot arm command
110~127 Reserved (Future System)
User General
128~255 o o User Defined Area
Purpose Register
256 Joint reference 0 o x 0.02deg unit / Signed
257 Joint reference 1 o x 0.02deg unit / Signed
258 Joint reference 2 o x 0.02deg unit / Signed
259 Joint reference 3 o x 0.02deg unit / Signed
260 Joint reference 4 o x 0.02deg unit / Signed
261 Joint reference 5 o x 0.02deg unit / Signed
262 Joint angle 0 o x 0.02deg unit / Signed
263 Joint angle 1 o x 0.02deg unit / Signed
264 Joint angle 2 o x 0.02deg unit / Signed
265 Joint angle 3 o x 0.02deg unit / Signed
266 Joint angle 4 o x 0.02deg unit / Signed
267 Joint angle 5 o x 0.02deg unit / Signed

© RAINBOW ROBOTICS Inc. All rights reserved. 438

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

268 Joint current 0 o x 10mA unit / Signed

269 Joint current 1 o x 10mA unit / Signed
270 Joint current 2 o x 10mA unit / Signed
271 Joint current 3 o x 10mA unit / Signed
272 Joint current 4 o x 10mA unit / Signed
273 Joint current 5 o x 10mA unit / Signed
274 Joint information 0 o x
275 Joint information 1 o x
276 Joint information 2 o x
277 Joint information 3 o x
278 Joint information 4 o x
279 Joint information 5 o x
280 Joint temperature 0 o x celcius unit
281 Joint temperature 1 o x celcius unit
282 Joint temperature 2 o x celcius unit
283 Joint temperature 3 o x celcius unit
284 Joint temperature 4 o x celcius unit
285 Joint temperature 5 o x celcius unit
Joint 0 Estimated
286 o x 10mA unit / Signed
Current
Joint 1 Estimated
287 o x 10mA unit / Signed
Current
Joint 2 Estimated
288 o x 10mA unit / Signed
Current
Joint 3 Estimated
289 o x 10mA unit / Signed
Current
Joint 4 Estimated
290 o x 10mA unit / Signed
Current
Joint 5 Estimated
291 o x 10mA unit / Signed
Current
Joint 0 Gap(Esti.-
292 o x 10mA unit / Signed
Meas.) Current
Joint 1 Gap(Esti.-
293 o x 10mA unit / Signed
Meas.) Current
Joint 2 Gap(Esti.-
294 o x 10mA unit / Signed
Meas.) Current
Joint 3 Gap(Esti.-
295 o x 10mA unit / Signed
Meas.) Current
Joint 4 Gap(Esti.-
296 o x 10mA unit / Signed
Meas.) Current
Joint 5 Gap(Esti.-
297 o x 10mA unit / Signed
Meas.) Current
Joint 0 Gap(Esti.-
298 o x 10mA unit / Signed
Meas.) Curr+LPF
Joint 1 Gap(Esti.-
299 o x 10mA unit / Signed
Meas.) Curr+LPF
300 Joint 2 Gap(Esti.- o x 10mA unit / Signed

© RAINBOW ROBOTICS Inc. All rights reserved. 439

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Meas.) Curr+LPF
Joint 3 Gap(Esti.-
301 o x 10mA unit / Signed
Meas.) Curr+LPF
Joint 4 Gap(Esti.-
302 o x 10mA unit / Signed
Meas.) Curr+LPF
Joint 5 Gap(Esti.-
303 o x 10mA unit / Signed
Meas.) Curr+LPF
304~329 Reserved (Joint Information)
330 TCP reference X o x 0.1mm unit / Signed
331 TCP reference Y o x 0.1mm unit / Signed
332 TCP reference Z o x 0.1mm unit / Signed
333 TCP reference RX o x 0.02deg unit / Signed
334 TCP reference RY o x 0.02deg unit / Signed
335 TCP reference RZ o x 0.02deg unit / Signed
336 TCP position X o x 0.1mm unit / Signed
337 TCP position Y o x 0.1mm unit / Signed
338 TCP position Z o x 0.1mm unit / Signed
339 TCP position RX o x 0.02deg unit / Signed
340 TCP position RY o x 0.02deg unit / Signed
341 TCP position RZ o x 0.02deg unit / Signed
342~389 Reserved (TCP Information)

© RAINBOW ROBOTICS Inc. All rights reserved. 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX J. SYSTEM UPDATE

 Warning
It is recommended to back up the program files (.wsl) inside the tablet UI before the
system update.

1. Overview
Rainbow Robotics' system update is a two-step process.

UI update through APK install  System software (control box) update

2. Backup Program file

Connect the tablet and personal / business PC and obtain the program file (.wsl) from the
path below and back it up.

Tablet  Android  data  com.rainbow.cobot  files  work

GET .wsl files

(※ It is recommended that you back up the acquired files before proceeding to the next
step.)

3. UI Update
Rainbow Robotics' tablet UI program is distributed in the form of APK.
This is the same installation file as a regular Android application. Therefore, UI program is
updated by moving the installation APK file to the tablet and installing it.
(※ Rainbow Robotics recommends installing after deleting an existing application.)

(※ When deleting an existing application, the program file (.wsl) is deleted together. Back up
the program file in step 1 and proceed with this process.)

Copy the distributed APK file into Table  APK install

© RAINBOW ROBOTICS Inc. All rights reserved. 441

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

4. Connection between Tablet PC and Control Box

Connect the tablet to the control box and access the UI program. After connecting, then
connect the control box communication with the tablet.

UI Home  Make  Click ‘State’ button  Connect

(If the communication between the tablet and the control box is normal, the first box will be
lit blue. For safety reasons, it is recommended not to initialize the robot.)

5. Go to and activate the system software update

Navigate to the system software update path as shown below.

UI Home  Make  Click Page  Setup  System Tab

In the “Software Update” section on the right, check the Activate checkbox.

© RAINBOW ROBOTICS Inc. All rights reserved. 442

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

6. Progress System Software Update

The Update button will appear, and click this button to open a popup window.

Press “OK” button to update the software.

If the update is completed as normal after clicking the OK button, the PC of the control box
(controller) will automatically restart within 5 ~ 15 seconds.

© RAINBOW ROBOTICS Inc. All rights reserved. 443

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

During the restart process, “Please Wait…” is temporarily displayed on the LCD of the control
box. This indicates that the control box is rebooting.
After the reboot is completed, “Normal Operation” is displayed on the LCD of the control box.

7. Check the Update

Reconnect the UI tablet and control box.

UI Home  Make  Click ‘State’ button  Connect

When you go back to the UI home screen, the software version is displayed on the upper
right (or lower left). Check if it is updated to the correct version.

© RAINBOW ROBOTICS Inc. All rights reserved. 444

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX K. ANDROID TABLET CONFIGURATION

Before using the UI program, the following tablet settings are required.

1. Go to Setting section of the Android.

2. Go to “About Tablet” > “Software Information”.

© RAINBOW ROBOTICS Inc. All rights reserved. 445

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

3. Multi-click (7 or more times) “Build Number” of tablet information.

4. A menu called "Developer Options" will appear under "About Tablet" as shown below.

© RAINBOW ROBOTICS Inc. All rights reserved. 446

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

5. Activate "USB Debugging" in "Developer Options".

6. Run the APK distributed by Rainbow Robotics to install the UI program on your tablet.

© RAINBOW ROBOTICS Inc. All rights reserved. 447

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

APPENDIX L. BRAKE SYSTEM

The configuration of the Brake System on each axis of the robot arm consists of a support
frame, solenoid, brake ring, brake shaft, brake spring and brake wing, which are installed on
the robot joint as shown below.

If the solenoid is on, the physical interference between the turning radius of the brake ring
and the brake wing is released, and if the solenoid is off, the physical interference between
the end of the brake ring and the brake wing is applied, which stops the rotation of the
driveshaft.
When the brake ring rotates and pushes through the brake wing, the wing returns to the
spring force, and then a bi-directional brake occurs through physical interference, keeping
both bi-directional rotations of the driveshaft stationary.

© RAINBOW ROBOTICS Inc. All rights reserved. 448

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL

Rainbow Robotics Inc.

Main Office and Factory +82.42.719.8070
Phone
10-19, Expo-ro 339beon-gil, Fax +82.42.719.8071
Yuseong-gu,
© RAINBOW Daejeon,Inc.
ROBOTICS Republic of Korea
All rights reserved. 449
Contact email [email protected]
Sales inquiries [email protected]
Homepage www.rainbow-robotics.com