BORUNTE Industrial robot English （HC）instruction manual——Shows and Operates
1、appearance and description
2、Key function description
2.1、State selection switch
Manual control of the state is divided into three kinds, manual, stop, auto.
"Manual" ：The status selector switch to the left to enter the manual state, the upper left corner of the screen icon becomes As shown in Fig 
In this state, manual operation and programming can be performed.
"Stop"：The status selector switch to hit the middle of the state into the stop, the upper left corner of the screen icon becomes Figure 
In this state, parameter setting is possible
"Auto"：The status selector switch to the right to enter the automatic state, the upper left corner of the screen icon becomes Figure 
In this state can be fully automatic and the corresponding settings.
2.2、Function keys
"Start" key: Press "Start" key in automatic state to enter the automatic running state.
Press the [Reset] key and then the [Start] key to return to the home position.
"Stop" key: Function 1: Press this button to enter the single cycle mode. In the automatic mode, the system will stop in the single-cycle mode. After pressing the [Stop] key again, the robot Stop motion.
Function 2: In the event of an alarm, press this key in the stop state to clear the alarm display that has been resolved.
"Origin" key: In the stop state, press this key, then press "start" key to start the home return operation.
Note: You can select the way of homing and the order of homing in this key. For details, please refer to 3.2.1.17 Function description of origin command.
“Reset” key: Press the [Reset] key and then press the [Start] key to return all the axes to the home position.
Note: You can also add other commands to this key, for example, to turn off an output point when you press the reset button. For details, see section 3.1.
2.3、Axis action keys
X +key: Pressing this key moves the axis in the positive direction at the current speed.
X- key: The axis moves at the current speed in the negative direction.
Y1- key: The axis moves at the current speed in the negative direction.
Y1- key: The axis moves at the current speed in the positive direction;
Z + key: Pressing this key moves the axis in the positive direction at the current speed.
Z- key: The axis moves at the current speed in the negative direction.
U + key: Pressing this key moves the axis in the positive direction at the current speed.
U- key: The axis moves at the current speed in the negative direction.
V + key: Press this key to move in the positive direction at the current speed.
V- key: The axis moves in the negative direction at the current speed.
W + key: Pressing this key moves the axis in the positive direction at the current speed.
W- key: The axis moves at the current speed in the negative direction.
There are two types of axis motion, one is the world coordinate motion and the other is the joint movement. Pressing the axis type in manual mode and pressing the axis action button will activate the corresponding axis.
Operating procedures:
1,In manual mode, click this icon 
once to open the manual keyboard button.
2, The icon after opening the icon below, in this figure, select the axis movement type and press the apprReturn to originiate axis keys (keyboard keys or hand control button), the corresponding axis will act.
3,Manual speed control: in manual mode can press the acceleration and deceleration keys can be adjusted speed, can also be fixed in the manual speed, the corresponding setting can be entered in the stop state "parameter" → "machine settings" → "run parameters (Chapter 4.2.1) of the Standalone Control Manual option.
2.4、Fine-tuning knob
Function: You can use this knob to precisely move the axis when the manual mode is fine-tuned.
To do this, click the Open button 
click the [Tune sel] option, select the tune speed, select the axis to be fine-tuned in the left box, or press the axis button (on the hand controller) The fine adjustment knob moves the axis one point at a time to the target point.
X1: The movement of a grid axis is 0.01mm or the axis is rotated by 0.01 degree.
X5: moving a grid axis 0.05mm or axis rotation 0.05 degrees.
X10: moving a grid axis movement 0.1mm or axis rotation 0.1 degrees.
X50: moving a grid axis moving 0.5mm or axis rotation 0.5 degrees.
World coordinates: The position and attitude of the end point of the tool with the center of the robot base as the origin.
Joint coordinate: The coordinate value of the motor coordinate converted by the mechanism coupling relationship.
2.5、Emergency button
Function: Press the emergency stop button in emergency, it will cut off all axes to enable, the system alarm "emergency stop", after the knob is unscrewed, press "stop" key to cancel the alarm.
3、Main screen and axis definition
3.1、Main screen description
3.1.1、Authority management
Login: Click "Login" to enter the login interface, first select the user type, enter the password, then click "login". To exit to the minimum privilege, click "Logout". The operation diagram is as follows:
Note 1: Please log on before setting the system, because different user names have different administrative rights.
Note 2: Create a new user name to see section 4.3.6.
Op(Operator) : The permission can only be moved in the manual state can not enter the teaching page to teach the page, automatic state can start the robot, adjust speed, stop state can enter the home return.
Admin(Administrator) : This permission can only move the axis in the manual state can not enter the teaching page to teach, automatic state can start the robot, adjust the speed, stop state can enter the home return.
Super: The user can perform all the operations except for user management, the default login password 123456.
Root(Super administrator): the user can perform all the operations under the default login password 12345678.
Permissions Size: Op <Administrator <Super < Root
3.1.2、Calculator
Click once to open the counter and click the second page to retract.
3.1.3、I / O monitoring
Click once to view the I / O points and intermediate variable on / off status and click the second page retraction.
3.1.4、Model
Click the model number to enter the model management page can be "new", "load", "copy", "delete" specific operation is as follows:
New : in the new file name text box to enter the new model name, and then click "New" button, you can create a new model of the blank program, model name can enter letters and numbers.
Copy: After entering a new name in the new module name text box, click the saved model name, and then click the [Copy] button to copy the stored model number program to the new model number program .
Load : Click the stored model number, and then click "Load" button, you can load the selected model number, run automatic ally when running the program.
Del: Click the stored model number, and then click the [Delete] button to delete the module. The currently loaded module can not be deleted.
Export: Click the saved module number, and then click [export to U disk] button, you can export the selected model number.
Import: insert U disk to USB port of manual controller Click "Import from U disk" button, select the module to import. Click "Open" button and then "Load" to import the module.
Search: Enter the model name in the edit box and click "Search" button to search the existing model number.
Clear search: Click once to clear your search history.
3.1.5、Alarm log
Click the [Alarm Log] button to view the alarm log and the operation log.
Alarm Logging Page:
Note: Drag up or down to see more.
4、Operating mode
The manipulator has manual, stop, automatic three states, the status selector switch to the left gear position for the manual state, in which the state of the robot manual operation. Rotate the status selector switch to the neutral position to stop the robot. In this state, the robot will stop all the movements and return the robot to the home position. Rotate the status selector switch to the right position and press the "Start" button once, the robot will enter the automatic running state.
4.1、Origin Reversion
In order for the robot to operate correctly and automatically, the Return to origin operation is performed every time the power is turned on and stopped. The Return to origin operation will drive each axis of the robot to its home position.
Return to origin operation method:
Condition 1:Operation flow without origin setting.
1. Move all axes to the home position in the manual mode.
2. To save the home position: In the stop state, go to "Setting" → "Mechanical Conf" → "Motor Configs" page, click "Set All Origin" or "Set as Origin" button, and then click "Save Origin" button Can be.
Condition 2:The flow of operation has been set to the origin.
Press the "OPEN" key in the stop state to display the selection dialog box as shown in the following figure. Select the option according to the actual situation (if you do not understand the options, please click the [Help] button) The robot starts the Return to origin operation.
"Display Help" Details:
□ Near the origin: The position is probably used in the vicinity.
□ Emergency shutdown before shut down: Only make sure the camera has been photographed before shutdown can be used.
□ re-homing: has not returned in the vicinity of the origin of the time, once again when the original point of use.
Note: You can not perform manual, automatic operation and parameter setting on the robot during the Return to origin. In case of an emergency, press the [STOP] key to stop the Return to origin or press the [EMERGENCY STOP] button.
5、commissioning
Before the use of the control system, please first according to the above described wiring, and then let the manipulator for a simple test run, test run normal and then according to their own needs to teach the program running.The trial operation steps are as follows:
