Page 2 User Manual AH6 Robot AH6-0500-0204-2000 AH6-0500-0204-3000 AH6-0600-0204-2000 AH6-0600-0204-3000 AH6-0700-0204-2000 AH6-0700-0204-3000 QKM Technology (Dongguan) Co., Ltd. Version: V1.2.0 Date: 01/06/2023...
Page 3: Preface
Preface Preface Thank you for purchasing the robot produced by QKM! This manual describes the matters needing attention for properly use of AH6 Robot. Read this manual carefully before using AH6 Robot. Keep this manual properly for future reference. Overview...
Page 4 AH6 Robot User Manual this manual; be sure to pay attention to the following signs when they appear in this manual. The signs in this manual are described in the table below: Sign Description It indicates that a dangerous situation would occur and cause deaths or serious injuries if it is not avoided.
Page 5 Preface Copyright ©2023 QKM Technology (Dongguan) Co., Ltd. All Rights Reserved. QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM Technology) owns the patents, copyrights and other intellectual property rights of this product and its software. Without the written authorization of this company, any unit or individual shall not extract or copy the contents of this document, and shall not directly or indirectly reproduce, manufacture, process and use this product and related parts.
Page 6 AH6 Robot User Manual QKM Technology(Dongguan)Co.,Ltd Tower A, Building 17, Headquarters 1, No.4 Xinzhu Road, Songshan Lake High-tech Industrial Development Zone, Dongguan , Guangdong,China Tel: +86 0769-27231381 Fax: +86 0769-27231381-8053 Zip code: 523808 Email: service@qkmtech.com Website: www.qkmtech.com Document Version V1.2.0 (01/06/2023)
Page 7: Version History
Version History Version History The version history contains the information on each update of the document, and the latest version of the document includes the updates in all previous versions of the document. Version Issue Date Revision Content V1.0.0 04/17/2020 The first version.
Page 8 AH6 Robot User Manual 5.1 Add reference instructions for robot instructions and access channels for arm installation package; 5.2 Section 6.4.3 functions and operation instructions of user-defined instruction editing area are added; 5.3 Instruction input case description, output failure warning and jog operation mode switching description are added；...
Page 9 Version History 2. Electrical chapter 4.3.2 is added. The plug of robot auxiliary encoder is provided with 5V voltage and does not need to be introduced externally. 1. The installation dimension of end flange in Figure 3-17 is modified; 2. Chapter 4.3.6 adds notes on the use of 24V DC output power supply of I / O interface V1.1.2 04/20/2021...
Page 10 AH6 Robot User Manual Modify Chapter 6 Robot Operation： 1. Modify Section 6.1,add an overview of the QRL language. 2. Modify the pictures of the ARM installation process in Section 6.2. 3. Modify the interface picture and operation steps of the new version of ARM in Section 6.3.
Page 11 Version History Added 6.10 Robot power-off method 1 and method 2 operation steps, and added method Document Version V1.2.0 (01/06/2023)
Page 12: Table Of Contents
AH6 Robot User Manual Contents Preface ......................I Version History ....................V Contents ......................X List of Figures .................... XVI List of Table ....................XXII Chapter 1 Safety Precautions ..............1 Precautions for general safety ..........1 1.2 Precautions for safe operation ............4 1.3 Safety signs ..................
Page 13: Contents
Contents Upper control cabinet ............12 Base ..................13 Mechanical arm 1 ..............13 Mechanical arm 2 ..............13 Cable ..................14 3.2 Trajectory ..................14 3.3 Work space..................15 Vertical Work Space ............. 15 Horizontal Work Space ............19 3.4 Robot coordinate system ..............
Page 14 AH6 Robot User Manual Introduction to Electrical Interfaces ........31 4.1 External electrical interface ............. 31 Mechanical arm 2 interface panel ........31 Upper control cabinet interface panel ........ 33 Base interface panel............. 34 4.2 Indicator description ............... 35 Main power indicator ............35 System indicator (Mechanical arm 2) ........
Page 15 Contents Product Installation ..............53 5.1 Installation requirements ..............53 5.2 Product confirmation ..............55 5.3 Installation site and environment ........... 55 5.4 Installation of external parts ............56 Installation of camera (optional) ......... 57 5.5 Handling of robot ................58 5.6 Base installation ................
Page 16 AH6 Robot User Manual 6.1 Prerequisites ..................70 6.2 Programming environment installation .......... 71 Installation steps ..............72 6.3 Open Macro Command Debugger ........... 74 6.4 Functions of macro command debugger ........77 Macro Command Debugger interface ......... 77 Menu bar ................77 Introduction to user defined instruction editing area ..
Page 17 Contents Switch to QRL mode ............96 Creating QRL project files ............ 96 Introduction to "main.ql" ............ 98 Introduction to "data.qlv" ..........100 Saving and downloading program locally ......106 6.6 Manual jog teach ................108 6.7 Servo power-on ................111 6.8 Speed adjustment ................
Page 18: List Of Figures
Figure 3-1 Composition of AH6 Robot (AH6-0500-0204-2000) ......12 Figure 3-2 Trajectories of each axis ..............14 Figure 3-3 Vertical work space of AH6 Robot with an arm length of 500 mm ..15 Figure 3-4 Vertical work space of AH6 Robot with an arm length of 600 mm ..16 Figure 3-5 Vertical work space of AH6 Robot with an arm length of 700 mm ..17...
Page 19 List of Figures Figure 3-14 Dimensions of AH6 Robot with an arm length of 700 (Unit: mm) 24 Figure 3-15 Dimensions of AH6 Robot with an arm length of 700 (Unit: mm) 25 Figure 3-16 Product dimensions (Unit: mm) ............. 25 Figure 3-17 Installation dimensions of terminal flange (Unit: mm) ....
Page 20 AH6 Robot User Manual Figure 5-6 Installation of bolts in the base ............60 Figure 5-7 Schematic diagram of ground connection ........61 Figure 5-8 Schematic diagram of communication connection ......63 Figure 5-9 Schematic diagram of emergency stop device connection ....64 Figure 5-10 Connection of power cable to socket and robot ......65 Figure 6-1 Installation package ................72...
Page 21 List of Figures Figure 6-13 scanning interface ................83 Figure 6-14 IP connection ................... 84 Figure 6-15 Successful connection ..............85 Figure 6-16 Connection failure ................85 Figure 6-17 Macro manual .................. 88 Figure 6-18 Input instructions ................89 Figure 6-19 Input instructions ................90 Figure 6-20 Input instructions ................
Page 22 AH6 Robot User Manual Figure 6-30 "main.ql " interface ................99 Figure 6-31 Run the solution ................99 Figure 6-32 "data.qlv" interface ............... 100 Figure 6-33 New Location ................. 102 Figure 6-34 New LocationJ ................102 Figure 6-35 New Profile ..................103 Figure 6-36 New Location Array ...............
Page 23 List of Figures Figure 6-47 Teach interface ................109 Figure 6-48 Power-on button interface ............114 Figure 6-49 Adjustment of system speed ............115 Figure 6-50 Speed adjustment ................117 Figure 6-51 Interface of teaching in powered-on state ........121 Document Version V1.2.0 (01/06/2023)
Page 24 Table 1-1 Warning signs ..................6 Table 2-1 Model preview ..................9 Table 3-1 Vertical work space of AH6 Robot with an arm length of 500 mm ...15 Table 3-2 Vertical work space of AH6 Robot with an arm length of 600 mm ...16 Table 3-3 Vertical work space of AH6 Robot with an arm length of 700 mm ...17...
Page 25 List of Table Table 4-5 Description of system indicator status ..........36 Table 4-6 Definition of power interface pins ............36 Table 4-7 Definition of auxiliary encoder pins ........... 37 Table 4-8 MCP Definition of MCP pins ..............39 Table 4-9 Definition of RS-232 pins ..............41 Table 4-10 Definition of Ethernet interface pins ..........
Page 27: Chapter 1 Safety Precautions
QKM or relevant institutions or have the same professional skills. Before robot operation, maintenance, teaching, programming, system development, etc., relevant personnel must read supporting manuals carefully and use AH6 Robot in strict accordance with the safety precautions in this manual. Precautions for general safety The safety precautions in this manual only serve as a supplement to safety specifications.
Page 28 AH6 Robot User Manual Personnel who use this series of robots for system design and manufacturing shall observe the following safety rules:  Use the robot and its component products in an environment that meets the design specifications, otherwise the robot may fail.
Page 29 Chapter 1 Safety Precautions  Detergents with strong corrosion are not suitable for cleaning the robot. Anodized parts should not be cleaned by immersion.  Non-professionals shall not repair the faulty products or disassemble the electronic control cabinet without permission. If the product fails, please contact QKM Customer Service Department.
Page 30: Precautions For Safe Operation
AH6 Robot User Manual  Users shall operate the robot by following the instructions marked on it. Do not enter the dangerous area where the robot operates to avoid personal injuries and robot damage.  If the user needs transshipment,please use the standard packaging shipped by QKM 1.2 Precautions for safe operation...
Page 31: Safety Signs
Chapter 1 Safety Precautions factory for proper grounding to prevent static electricity damage; be sure to use special insulated tools for maintenance.  Confirm that the entire robot system is in a safe environment before performing daily inspection and regular maintenance of the robot. ...
Page 32: Table 1-1 Warning Signs
AH6 Robot User Manual observe the cautions and contents on the warning signs. Table 1-1 Warning signs Label Remark A triangle sign for warning of high voltage A grounding sign Do not disassemble the robot to prevent failures. A sign for protection from residual voltage Document Version V1.2.0 (01/06/2023)
Page 33: Product Overview
Chapter 2 Product Overview Product Overview 2.1 Introduction AH6 Robot is a SCARA robot (adopting a new generation of distributed controller) independently developed by QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM). It is characterized by AIO design, no separate...
Page 34: Figure 2-1 Ah6 Robot (Ah6-0500-0204-2000) Appearance
AH6 Robot User Manual phone, 3C, food and other industries. Figure 2-1 AH6 Robot (AH6-0500-0204-2000) appearance Document Version V1.2.0 (01/06/2023)
Page 35: Model Implication
Figure 2-2 Model implication Table 2-1 Model preview Horizontal Vertical Rated Maximu Model Work Work Installatio Protection Operating Load Name Space Space Grade Environment (kg) Load (kg) (mm) (mm) AH6-0500- 0204-2000 Tabletop IP 20 Standard AH6-0500- mounting 0204-3000 Document Version V1.2.0 (01/06/2023)
Page 36 AH6 Robot User Manual AH6-0600- 0204-2000 AH6-0600- 0204-3000 AH6-0700- 0204-2000 AH6-0700- 0204-3000 Document Version V1.2.0 (01/06/2023)
Page 37: Product Features
Chapter 2 Product Overview 2.3 Product Features  Available in 500 mm, 600 mm and 700 mm arm lengths for flexible use by customers.  AIO design without separate control cabinet for less space and easy installation. By adopting a new generation of distributed architecture control system, it is more stable, smoother and easier to use.
Page 38: Components And Functional Description
Components and Functional Description 3.1 Introduction to main body AH6 Robot is mainly composed of a base, a mechanical arm 1, a mechanical arm 2, a spline shaft, a terminal flange and a corrugated pipe (including cables). Its appearance and structure are shown in Figure 3-1.
Page 39: Base
Base The interface panel of power supply, communication and satus display is arranged at the back of the AH6 robot base. Six through-holes and two pin holes are provided at the installation location of the base for accurately fixing the robot.
Page 40: Cable
AH6 Robot User Manual Cable AH6 Robot adopts torsion-resistant and high-flexibility cables which can ensure smooth signal transmission of the robot. 3.2 Trajectory Joint coordinate of robot control system: The posture of the robot is represented by rotation angle of each axis.
Page 41: Work Space
3.3 Work space Vertical Work Space  AH6-0500-0204-2000/ AH6-0500-0204-3000 Figure 3-3 Vertical work space of AH6 Robot with an arm length of 500 mm Table 3-1 Vertical work space of AH6 Robot with an arm length of 500 mm Model...
Page 42: Figure 3-4 Vertical Work Space Of Ah6 Robot With An Arm Length Of 600 Mm
AH6 Robot User Manual AH6-0600-0204-2000/ AH6-0600-0204-3000   Figure 3-4 Vertical work space of AH6 Robot with an arm length of 600 mm Table 3-2 Vertical work space of AH6 Robot with an arm length of 600 mm Model AH6-0600-0204-2000 AH6-0600-0204-3000 Document Version V1.2.0 (01/06/2023)
Page 43: Figure 3-5 Vertical Work Space Of Ah6 Robot With An Arm Length Of 700 Mm
Chapter 3 Components and Functional Description AH6-0700-0204-2000/ AH6-0700-0204-3000   Figure 3-5 Vertical work space of AH6 Robot with an arm length of 700 mm Table 3-3 Vertical work space of AH6 Robot with an arm length of 700 mm Model AH6-0700-0204-2000...
Page 44 AH6 Robot User Manual bottom of the spline shaft. Document Version V1.2.0 (01/06/2023)
Page 45: Horizontal Work Space
Chapter 3 Components and Functional Description Horizontal Work Space Figure 3-6 AH6-0500-0204-2000/AH6-0500-0204-3000 Figure 3-7 AH6-0600-0204-2000/AH6-0600-0204-3000 Document Version V1.2.0 (01/06/2023)
Page 46: Robot Coordinate System
AH6 Robot User Manual Figure 3-8 AH6-0700-0204-2000/AH6-0700-0204-3000 3.4 Robot coordinate system The "+" and "-" indicating directions of the axes are applicable to the cartesian coordinate system. Document Version V1.2.0 (01/06/2023)
Page 47: Specification And Dimension
Chapter 3 Components and Functional Description Figure 3-9 World coordinate system 3.5 Specification and dimension Overall dimension  AH6-0500-0204-2000/AH6-0500-0204-3000 Document Version V1.2.0 (01/06/2023)
Page 48: Figure 3-10 Dimensions Of Ah6 Robot With An Arm Length Of 500 (Unit: Mm)
AH6 Robot User Manual Figure 3-10 Dimensions of AH6 Robot with an arm length of 500 (Unit: mm) Table 3-4 Dimensions of AH6 Robot with an arm length of 500 (Unit: mm) Model AH6-0500-0204-2000 +1.7 AH6-0500-0204-3000 -98.3 C: The positive value is above the base datum plane, and the negative value is below the base datum plane.
Page 49: Table 3-5 Dimensions Of Ah6 Robot With An Arm Length Of 600 (Unit: Mm)
Chapter 3 Components and Functional Description Figure 3-11 Dimensions of AH6 Robot with an arm length of 500 (Unit: mm)  AH6-0600-0204-2000/AH6-0600-0204-3000 Figure 3-12 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm) Table 3-5 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm)
Page 50 C: The positive value is above the base datum plane, and the negative value is below the base datum plane. Figure 3-13 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm)  AH6-0700-0204-2000/AH6-0700-0204-3000 Figure 3-14 Dimensions of AH6 Robot with an arm length of 700 (Unit: mm)
Page 51: Base Dimensions
Chapter 3 Components and Functional Description Table 3-6 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm) Model AH6-0700-0204-2000 +3.7 AH6-0700-0204-3000 -96.3 C indicates the distance between the bottom of the spline shaft and the base datum plane, its positive value is above the base datum plane, and its negative value is below the base datum plane.
Page 52: Terminal Flange Dimensions
AH6 Robot User Manual Terminal flange dimensions completely-through hole Figure 3-17 Installation dimensions of terminal flange (Unit: mm) Document Version V1.2.0 (01/06/2023)
Page 53: Technical Parameters
Chapter 3 Components and Functional Description 3.6 Technical parameters Table 3-7 Technical parameters of AH6 Robot AH6-0500 AH6-0600 AH6-0700 AH6- AH6- AH6- AH6- AH6- AH6- 0500- 0500- 0600- 0600- 0700- 0700- Model 0204- 0204- 0204- 0204- 0204- 0204- 2000 3000...
Page 54: Environmental Parameters
AH6 Robot User Manual J3 (mm) ±0.01 J4 (°) ±0.01 Rated load (Kg) Maximum load (Kg) J4 rated moment of inertia 0.01 (kg·m J4 maximum moment of 0.12 inertia (kg·m Total weight (kg) 3.7 Environmental parameters Install the robot system in an environment that meets the following conditions to exert/maintain the performance of the robot and to ensure safe use.
Page 55: Table 3-8 Environmental Parameters
Chapter 3 Components and Functional Description Table 3-8 Environmental parameters Installation Remark Environment Ambient 0 ~ 40℃ temperature Ambient relative 10% - 90%, non-condensing humidity Located indoors No flammable gas, dust or liquid Ambient No corrosive gas or substance environment Free from electromagnetic interference source, electrostatic discharge, etc.
Page 56: Electrical Parameters
AH6 Robot User Manual  Do not use it in corrosive environments such as acids or alkalis, otherwise the normal use of the robot would be affected. 3.8 Electrical parameters Table 3-9 Robot electrical parameters Item Parameter Rated voltage 230 V a.c. 50/60 Hz Rated power 0.9 kW...
Page 57: Introduction To Electrical Interfaces
Chapter 4 Introduction to Electrical Interfaces Introduction to Electrical Interfaces 4.1 External electrical interface Figure 4-1 External interface panel Mechanical arm 2 interface panel Document Version V1.2.0 (01/06/2023)
Page 58: Figure 4-2 Schematic Diagram Of Interface Panel
AH6 Robot User Manual Figure 4-2 Schematic diagram of interface panel Table 4-1 Interface panel description Name Description Name Description Customer signal Air pipe Connected to Φ4 interface connecto air pipe (Customer Signal) ON (green) indicates that the robot has...
Page 59: Upper Control Cabinet Interface Panel
Chapter 4 Introduction to Electrical Interfaces Air pipe Connected to Φ6 Brake Brake button connecto air pipe Upper control cabinet interface panel Figure 4-3 Schematic diagram of interface panel Document Version V1.2.0 (01/06/2023)
Page 60: Base Interface Panel
AH6 Robot User Manual Table 4-2 Interface panel description Name Description Name Description Connected to Φ6 Air1 air pipe Customer signal Connected to Φ6 interface Air2 air pipe (Customer Signal) Connected to Φ4 Air3 air pipe Emergency stop component Digital input/output...
Page 61: Indicator Description
For grounding hole 4.2 Indicator description AH6 Robot is equipped with AC LED on the base interface panel and system indicator on the mechanical arm 2. The status of the indicators is described below. Main power indicator Table 4-4 Description of power indicator status...
Page 62: System Indicator (Mechanical Arm 2)
AH6 Robot User Manual Status Description Indicates that the robot is not powered on. ON (red) Indicates that the robot is powered on. System indicator (Mechanical arm 2) The system indicator is located at the top of the second mechanical arm of the robot.
Page 63: Auxiliary Encoder
Chapter 4 Introduction to Electrical Interfaces Function Description 230 V a.c. Power Interface Live wire Neutral wire Ground wire 4-pin male front pinout Idle Auxiliary encoder  The 5V pin in the auxiliary encoder interface is the DC output power supply. ...
Page 64 AH6 Robot User Manual Common ground Axis 1 A+ Axis 1 B+ Axis 1 Z+ Shielded cable Output 5 V 5 V d.c. d.c. output power Common 12-pin female front ground pinout Axis 2 Axis 2 A+ Axis 2 B+...
Page 65: Mcp Interface (Mcp/E-Stop)
Chapter 4 Introduction to Electrical Interfaces Figure 4-5 Auxiliary encoder MCP interface (MCP/E-stop) Table 4-8 MCP Definition of MCP pins Function 1 (MCP) Auto/Manual 2 Output 24 V d.c. Auto/Manual 1 Output 24 V d.c. BI_D4+ BI_D4- E-STOP_0 Document Version V1.2.0 (01/06/2023)
Page 66 AH6 Robot User Manual E-STOP_2 BI_D3+ BI_D3- TX_D1+ TX_D1- RX_D2+ RX_D2- TLB.AF.319.CLAD65 Orange Yellow Green Brown white Brown Black Grey White Light green Light blue Pink Blue white Blue Green white Green Orange white Orange Document Version V1.2.0 (01/06/2023)
Page 67: Communication Interface (Rs-232)
Chapter 4 Introduction to Electrical Interfaces Figure 4-6 Wiring diagram of emergency stop device Communication interface (RS-232) Table 4-9 Definition of RS-232 pins Definition of RS-232 pins Function Description Unused Receive data Transmit data Unused Ground terminal 9-pin male front pinout Unused Unused Unused...
Page 68: Digital Input/Output Interface (I/O)
AH6 Robot User Manual TX_D1+ Tranceivie data + TX_D1- Tranceivie data - RX_D2+ Receive data + BI_D3+ Bi-directional data + BI_D3- Bi-directional data - RX_D2- Receive data - 8-pin front interface BI_D4+ Bi-directional data + BI_D4- Bi-directional data - Digital input/output interface (I/O)
Page 69: Table 4-11 Definition Of I/O Interface Pins
Chapter 4 Introduction to Electrical Interfaces Table 4-11 Definition of I/O interface pins Definition of I/O interface pins 62-core female front pinout Function Signal encoding Description E-DO_1 20101 General purpose output 1 E-DO_2 20102 General purpose output 2 Output 24 V 24 V d.c.
Page 70 AH6 Robot User Manual E-DO_7 20107 General purpose output 7 E-DO_8 20108 General purpose output 8 E-DO_9 20109 General purpose output 9 E-DO_10 20110 General purpose output 10 Output 24 V 24 V d.c. output power ① Common ground E-DO_11...
Page 71 Chapter 4 Introduction to Electrical Interfaces Common ground E-HDI_1 30101 High speed input 1 E-HDI_2 30102 High speed input 2 E-HDI_3 30103 High speed input 3 E-HDI_4 30104 High speed input 4 Common ground E-DI_1 10101 General purpose input 1 E-DI_2 10102 General purpose input 2...
Page 72 AH6 Robot User Manual E-DI_13 10113 General purpose input 13 E-DI_14 10114 General purpose input 14 E-DI_15 10115 General purpose input 15 E-DI_16 10116 General purpose input 16 E-DI_17 10117 General purpose input 17 E-DI_18 10118 General purpose input 18...
Page 73: Figure 4-7 Diagram Of Input Circuit (Left) And Output Circuit (Right)
Chapter 4 Introduction to Electrical Interfaces Note ①: The rated current of one-way 24 V output power supply is 1 A. 24V DC output power supply can not be used to connect to external equipment, but can only be used for I / O output Figure 4-7 Diagram of input circuit (left) and output circuit (right) Document Version V1.2.0 (01/06/2023)
Page 74: Customer Signal Interface Of Upper Control Cabinet (Cs)
AH6 Robot User Manual Customer signal interface of upper control cabinet (CS) Table 4-12 Definition of upper control cabinet CS interface pins Definition of upper control cabinet CS interface pins 25-pin female front pinout Description Document Version V1.2.0 (01/06/2023)
Page 75 Chapter 4 Introduction to Electrical Interfaces 19-25 Idle Document Version V1.2.0 (01/06/2023)
Page 76: Customer Signal Interface Of Mechanical Arm 2 (Cs)
AH6 Robot User Manual Customer signal interface of mechanical arm 2 (CS) Table 4-13 Definition of mechanical arm 2 CS interface pins Definition of mechanical arm 2 CS interface pins Description 19-pin female front pinout Document Version V1.2.0 (01/06/2023)
Page 77: Figure 4-8 Wiring Diagram Of Cs Interface Of F19W-Core Robot General Cable
Chapter 4 Introduction to Electrical Interfaces Idle Figure 4-8 Wiring diagram of CS interface of F19W-core robot general cable Document Version V1.2.0 (01/06/2023)
Page 78 AH6 Robot User Manual 1. Take out the DB62, DB25 welding header and plug shell from the accessory box, refer to the I/O interface pin definition table, and weld and make I/O cable and CS cable as needed; 2. Under the premise of turning off the power supply of the robot,...
Page 79: Product Installation
Chapter 5 Product Installation Product Installation The installation of the robot is critical to its function. Special attention should be paid to the fixing of the base and the foundation needs to be able to withstand the impact load generated from the acceleration of the robot. Install this robot according to the following requirements.
Page 80 AH6 Robot User Manual If 4040 square tube is used for welding, ground screws (not less than M12) should be used for fixing. In order to suppress vibration, the installation panel of the mechanical arm should be iron plate with a thickness of 20mm or more, a surface roughness of 12.5 μm or less and a flatness of less than 0.5 mm.
Page 81: Product Confirmation
In case of any damage or component incompletion after unpacking, please contact QKM or local office. 5.3 Installation site and environment The installation of AH6 Robot shall meet the following conditions.  The ambient temperature during transportation maintains at 0 ~ 40℃.
Page 82: Installation Of External Parts
External equipment, such as vision camera, solenoid valve, etc. can be installed through the holes at the front end of the second mechanical arm of AH6 Robot. You can install external equipment by designing and fixing the bracket depending on the scenarios. The installation dimensions at the fixing position are shown inFigure 5-2.
Page 83: Installation Of Camera (Optional)
Chapter 5 Product Installation When the robot is powered on for the first time, it is necessary to check the rotation angle of the fourth axis, return to zero first, and then install the tool to avoid finding the super soft limit of the fourth axis after the tool is installed.
Page 84: Handling Of Robot
AH6 Robot User Manual 5.5 Handling of robot Use a forklift or the like to handle the robot in a packed state as far as possible. Comply with the following requirements when handling and unpacking the robot. The installation should be performed by qualified personnel. Take care not to impact the equipment when unpacking.
Page 85: Figure 5-4 Schematic Diagram Of Packaging And Transportation
Chapter 5 Product Installation  The robot must be held by at least two persons with their hands when handling it with a forklift or a crane. Figure 5-4 Schematic diagram of packaging and transportation Use scissors to cut the cable ties outside the packing carton, then lift out the carton and store it properly.
Page 86: Base Installation
AH6 Robot User Manual 5.6 Base installation Table 5-1 Tightening torque Fixing bolt Tightening torque M8*25 35 N·m Use bolts, elastic washers and flat washers to install the base. The dimensions and installation of the bolts and washers are shown in Figure 5-6.
Page 87: Ground Protection
Chapter 5 Product Installation 5.7 Ground protection Each AH6 Robot is labeled with a "Ground Protection" sign and equipped with a ground terminal. Connect the ground terminal of the robot base to the external protective conductor. Figure 5-7 Schematic diagram of ground connection 5.8 Installation of robot cable...
Page 88: Communication Connection
Communication connection AH6 Robot communicates via Ethernet. Cable to be used: CAT5E network cable Step 1 Install one end of the network cable to the "Ethernet" interface on the interface panel of the robot back.
Page 89: Connection Of Emergency Stop Device
Chapter 5 Product Installation Figure 5-8 Schematic diagram of communication connection Connection of emergency stop device AH6 Robot is provided with an emergency stop device with cable at delivery. Cable to be used: cable for emergency stop device If a teach pendant is purchased, you need to prepare the teach pendant, and then install and use the cables according to the teach pendant user manual.
Page 90: Power Connection
Figure 5-9 Schematic diagram of emergency stop device connection Power connection AH6 Robot has achieved integrated design without power supply box for power connection, which is convenient for use. Cable to be used: Power cable The wiring steps are shown below.
Page 91: Figure 5-10 Connection Of Power Cable To Socket And Robot
Chapter 5 Product Installation Step 3 Plug the other end of the power cable into the 230 V a.c. socket. Figure 5-10 Connection of power cable to socket and robot  It is dangerous to perform cable wiring while the robot is powered on.
Page 92: Check After Installation
AH6 Robot User Manual Check after installation Users need to check whether the robot is in an operable state after installing the cables. The checks are as follows:  Check whether the plugs at all cable interfaces are loose or not.
Page 93: Robot Movement And Storage
Chapter 5 Product Installation 2) the main power cable is grounded and the triangle plug is firmly inserted into the socket to prevent electric shock. 3) the emergency stop button is connected to the robot. 5.9 Robot movement and storage Pay attention to the following points when moving, storing and transporting the robot.
Page 94 AH6 Robot User Manual fogging before turning on the power. Document Version V1.2.0 (01/06/2023)
Page 95: Robot Operation
Chapter 6 Robot Operation Robot Operation AH6 series robots need to be used in the ARM (Automation Rescource Manager) software programming environment. ARM software is suitable for the robot software programming environment produced by QKM. Users can write programs based on the software to send instructions to control the robot.
Page 96: Prerequisites
AH6 Robot User Manual information. Users can download the latest version of the manual through the official website. 6.1 Prerequisites 1) Familiar with macro instructions. QKM macro instructions indicate the robot secondary development language independently developed and defined by QKM based on the QKM motion control system, which is called Macro instruction set.
Page 97: Programming Environment Installation
Chapter 6 Robot Operation 3) Familiar with the mode of motion of the robot. 6.2 Programming environment installation In the application development of robots, the interactions of Windows with QKM robots or equipment system are required. QKMLink provides the interface for such interactions. You can download QKMLink using the two methods as follows: ...
Page 98: Installation Steps
AH6 Robot User Manual Requirements for download environment and memory: 1) Win7, Win8, Win10 systems; 2) Memory: 2G or more. Installation steps Step 1 Download an ARM installation package at the official website of QKM, as shown in Figure 6-1.
Page 99: Figure 6-2 Start Installation
Chapter 6 Robot Operation Figure 6-2 Start installation Step 3 Click on "Next", as shown in Figure 6-3. Figure 6-3 Choose installation path Step 4 Choose the installation path and click on "Next", as shown in Figure 6-4. Document Version V1.2.0 (01/06/2023)
Page 100: Open Macro Command Debugger
AH6 Robot User Manual Figure 6-4 Successful installation Step 5 Click on "Install" to complete the installation. 6.3 Open Macro Command Debugger Step 1 Double-click the installed ARM to open the ARM interface, and then click < window > on the menu bar to switch to <Pallas> mode,...
Page 101: Figure 6-5 Arm Interface
Chapter 6 Robot Operation as shown in Figure 6-5. Figure 6-5 ARM interface Step 2 On the interface of ARM in Pallas mode, click <Tools> on the menu bar and select < Macro Command Debugger >in< Debugging and Analyzing Tools >, as shown in Figure 6-6. Document Version V1.2.0 (01/06/2023)
Page 102: Figure 6-6 Arm Interface
AH6 Robot User Manual Figure 6-6 ARM interface Step 3 The macro command debugger is shown in Figure 6-7. Figure 6-7 Macro Command Debugger Document Version V1.2.0 (01/06/2023)
Page 103: Functions Of Macro Command Debugger
Chapter 6 Robot Operation 6.4 Functions of macro command debugger The macro command debugger is used in the installed ARM programming environment. Macro Command Debugger interface Figure 6-8 Macro Command Debugger Menu bar Figure 6-9 Menu bar of macro command debugger (ARM) Table 6-1 Functions of tools on the macro command debugger Introduction to menu bar on the macro command debugger (ARM) Open...
Page 104 AH6 Robot User Manual Undo Resume Comment out the selected Uncomment out the lines selected lines Start Continue (Note: Run all instructions in order.) Pause Stop Single step Previous Jump Clear There are two options, i.e. "Single" and "Cycle". Click...
Page 105: Introduction To User Defined Instruction Editing Area
Chapter 6 Robot Operation needs to be set by the user, and can be set to other numbers. Introduction to user defined instruction editing area Users can add common instructions to the < macro command debugger> interface through the user-defined instruction editing function according to their needs.
Page 106: Figure 6-10 Customize The Editing Interface(Arm)
AH6 Robot User Manual Figure 6-10 Customize the editing interface(ARM) Step 3 Click < OK >, and the command shortcut key < servo power on >, just added, will appear on the right side of the macro command debugge. To call the command of "servo power on" again, the user can directly click the shortcut key of <...
Page 107: Establish Ip Communication
Chapter 6 Robot Operation Figure 6-11 call the command shortcut interface(ARM) Establish IP communication Step 1 Open the ARM debugging environment, then click the button in the menu bar < Connect or disconnect quickly >to enter the connection interface. Document Version V1.2.0 (01/06/2023)
Page 108: Figure 6-12 Connection Interface
AH6 Robot User Manual Figure 6-12 connection interface Step 2 Click the lower left corner to enter the scanning interface, the <Scan>interface will automatically scan the IP address of the robot, click the IP address and click the lower right corner<Select>.
Page 109: Figure 6-13 Scanning Interface
Chapter 6 Robot Operation Figure 6-13 scanning interface Step 3 The IP address of the robot: 192.168.10.120, then click <Connect>the button below,as shown in Figure 6-14.  The IP addresses of the robot and the host computer must remain on the same network segment.
Page 110: Figure 6-14 Ip Connection
AH6 Robot User Manual from 1 to 256. Figure 6-14 IP connection 6.4.4.1 Successful IP connection The premise of successful IP connection is that the IP addresses of the robot and the host computer are on the same network segment.
Page 111: Figure 6-15 Successful Connection
Chapter 6 Robot Operation Figure 6-15 Successful connection 6.4.4.2 IP connection failure When the connection fails, the "Error" prompt dialog box will pop up, as shown in Figure 6-16. Figure 6-16 Connection failure Document Version V1.2.0 (01/06/2023)
Page 112 AH6 Robot User Manual Solution to connection failure: Step 1 Rescan the robot's IP address; If the IP address of the robot can be scanned, try to reconnect to the robot; If the IP address of the robot cannot be scanned, check...
Page 113: Query On Description Of Macro Language Instructions
Chapter 6 Robot Operation Step 4 Directly input "ping + Robot IP" after >. If the specific values of the parameters of byte, time and TIL are returned, it indicates that the network is connected as shown in the figure. (Note: The IP in the figure is just an example.
Page 114: Input Instructions
AH6 Robot User Manual The macro command debugger includes a macro manual, which lists the macro language instructions that need to be used during robot debugging. For details, please refer to the "QKM Robot Instruction Manual".Double-click the button in the interface to open the "QKM Robot Command Manual".
Page 115: Figure 6-18 Input Instructions
Chapter 6 Robot Operation Figure 6-18 Input instructions The system distinguishes between case and instruction, and the default first letter of instruction is uppercase. When inputting a single instruction, you can enter the first letter of the instruction. If you want to select an instruction, such as Loction, you can enter the capital letter "...
Page 116: Figure 6-19 Input Instructions
AH6 Robot User Manual Figure 6-19 Input instructions All instructions contained under the instruction set can be prompted automatically when you enter ".", as shown in Figure 6-20. Document Version V1.2.0 (01/06/2023)
Page 117: Run Instructions
Chapter 6 Robot Operation Figure 6-20 Input instructions Run instructions After editing the instructions, click on the <Run> button in the menu bar to run all the instructions in the "instruction editing area" one by one in sequence. The results are displayed in the "instruction output area", as shown in Figure 6-21.
Page 118: Breakpoint Debugging
AH6 Robot User Manual Figure 6-21 Run instructions Breakpoint debugging If you need to debug or run an instruction separately, you can locate it by adding a breakpoint before the instruction. Method of adding a breakpoint: Click the left mouse button at the position of instruction number before the instruction to add a breakpoint identifier, as shown in Figure 6-22.
Page 119: Output
Chapter 6 Robot Operation Figure 6-22 Add a breakpoint Output The output after running is displayed as shown in Figure 6-23. The output interface contains the feedback information of each command. If the command is successfully executed, the feedback result will be displayed in black font. If the command fails to be executed, the system will pop up the "Execution Failure"...
Page 120: Clear Output
AH6 Robot User Manual Figure 6-23 Output Clear output Click the <Clear> button in the upper right corner of the output area to complete the clear, as shown in Figure 6-24. Document Version V1.2.0 (01/06/2023)
Page 121: Save Output
Chapter 6 Robot Operation Figure 6-24 Clear output Save output If you need to save the output, you can click the <Save> button in the upper right corner of the output box to save it in the *.log format as shown in Figure 6-25.
Page 122: Qrl Mode
AH6 Robot User Manual 6.5 QRL mode QRL programs are used in ARM-installed programming environment. Switch to QRL mode In the ARM debugging interface, click the upper middle button , and then click the lit button on the left to switch to the QRL mode .
Page 123: Figure 6-27 New Solution
Chapter 6 Robot Operation Step 1 Right-click in the space below "Remote Location" and click "New Solution", as shown in Figure 6-27. Figure 6-27 New Solution Step 2 After the New Solution interface pops up, enter a program name, such as "test", and click "Create". Document Version V1.2.0 (01/06/2023)
Page 124: Introduction To "Main.ql
AH6 Robot User Manual Figure 6-28 Enter a solution name Step 3 After the creation is completed, the corresponding solution file will appear below "Remote Location". Expand the "test" file, and then the "project" file, which contains the "main.ql" and "data.qlv" program files, as shown in Figure 6-29.
Page 125: Figure 6-30 "Main.ql " Interface
Chapter 6 Robot Operation Figure 6-30 "main.ql " interface Run the "test" solution; Select "test" in at the top of the ARM debugging interface and click the button to run it. At this point, the program will output "Hello world!" below in a circular way, as shown in Figure 6-31.
Page 126: Introduction To "Data.qlv
AH6 Robot User Manual For details of QRL program content, please refer to the "QKM Robot (QRL Language) Programming Manual". Introduction to "data.qlv" "data.qlv" is the robot motion point and motion parameter setting file. Double-click to open the "data.qlv" file, and the "data.qlv" interface will pop up, as shown in Figure 6-32.
Page 127 Chapter 6 Robot Operation Move Line Switch to the pattern to control the linear movement of the robot to the selected point position New Location Add the point of the robot's current position in the current interface New Profile Use in the Motion Parameters interface to add motion parameters New Array Only use in Location Array/ LocationJ Array/Profile Array to...
Page 128: Figure 6-33 New Location
AH6 Robot User Manual Step 1 New Location; Click "New Location" in "Location", and the point information of the current robot's Cartesian position will appear in the interface. The point name is the default name, and you can click Rename to modify it, as shown in Figure 6-33.
Page 129: Figure 6-35 New Profile
Chapter 6 Robot Operation Step 3 New Profile; Click "New Profile" in "Profile", and the default motion parameter information will appear in the interface. The motion parameter name is the default name, and you can click Rename to modify it, as shown in Figure 6-35. Figure 6-35 New Profile Step 4 New Location Array;...
Page 130: Figure 6-37 "Location Array" Information Interface
AH6 Robot User Manual After completion, the "Location Array" information will appear, and the point will be recorded as the robot's current Cartesian coordinates, as shown in Figure 6-37. Figure 6-37 "Location Array" information interface Step 5 New LocationJ Array; Click "New Array" in "LocationJ Array", and the "New Array"...
Page 131: Figure 6-39 "Locationj Array" Information Interface
Chapter 6 Robot Operation will be recorded as the robot's current axis coordinates, as shown in Figure 6-39. Figure 6-39 "LocationJ Array" information interface Step 6 New Profile Array; Click "New Array" in "Profile Array", and the "New Array" interface will pop up. Enter the array name and array length, and click "OK", as shown in Figure 6-40.
Page 132: Saving And Downloading Program Locally
AH6 Robot User Manual Figure 6-41 "Profile Array" information interface Step 7 Click "IDE Edit", and the program contents of "data.qlv" will appear in the ARM debugging interface, showing the point and motion parameter information added in the above steps, as shown in Figure 6-42.
Page 133: Figure 6-43 Save To "Pc Location
Chapter 6 Robot Operation shown in Figure 6-43. Figure 6-43 Save to "PC Location" Step 2 Click the button in the download history path, select the path where the file needs to be saved, and click "OK". Step 3 A path will appear in the download history path, select this path, and click "OK"...
Page 134: Manual Jog Teach
AH6 Robot User Manual Step 4 After completion, the file will appear in "PC Location", and the program file will also appear in the corresponding save path, as shown in Figure 6-45. Figure 6-45 "PC Location" file interface 6.6 Manual jog teach On the ARM interface, click <...
Page 135: Figure 6-46 Jog Teach
Chapter 6 Robot Operation Figure 6-46 Jog teach Figure 6-47 Teach interface Document Version V1.2.0 (01/06/2023)
Page 136: Table 6-2 Introduction To Tools On The Jog Teach Interface
AH6 Robot User Manual Table 6-2 Introduction to tools on the jog teach interface Function Diagram Description You can select Frame Type [Joint],[World],[Tool]or [UseFrame]. Jog Mode You can select [Jog],[Step]or[Disable] in this mode. Inching Manually enter the distance distance value for each inching.
Page 137: Servo Power-On
Chapter 6 Robot Operation indicate that it can be jogged. Coordinates in [World/Tool/UseFrame] mode If you need to control coordinate the motion of the values robot separately, you can click <X +>,<X->,etc. to control the motion of the robot in the direction of X,etc.
Page 138 AH6 Robot User Manual Click < power on > Power on to control the robot to power on Click < Home > to Home control the robot to return Home The user adjusts the running speed System of the whole...
Page 139 Chapter 6 Robot Operation powered on via servo. Method 1 (jog teach): Click the <Home> button on the jog teach interface to enable the robot to return to zero. Method 2 (send macro instruction): Enter Robot.Home [robotIndex] in the instruction editing area on the macro command debugger to send a power-on instruction to the robot.
Page 140: Speed Adjustment
AH6 Robot User Manual Figure 6-48 Power-on button interface Method 2 (send macro instruction): Prerequisites: ① Manual or auto mode; ② The control authority is 0/1 (set authority with System.LogIn). Enter Robot. PowerEnable [robotIndex],1 in the instruction editing area on the macro command debugger to send a power-on instruction to the robot.
Page 141: Adjustment Of System Speed
Chapter 6 Robot Operation  Robot speed;  Speed in robot motion parameters. Adjustment of system speed Under the control of the same controller, one or more robots cooperate with each other to complete one or more actions, forming a complete robot operating system including all devices participating in the motion (s).
Page 142: Adjustment Of Robot Speed
AH6 Robot User Manual Method 2 (send macro instruction): Enter System.Speed [value] in the instruction editing area on the macro language interface to send instructions to the robot. (Where value indicates the value of system speed of the robot and its type is double) For example, System.Speed 50 // The speed of all robots in the...
Page 143: Figure 6-50 Speed Adjustment
Chapter 6 Robot Operation Figure 6-50 Speed adjustment Method 2 (send macro instruction): Prerequisites: (1) The robot is stopped; (2) The control authority is 0/1 (set authority with System.LogIn) Enter Robot.Speed [robotIndex], [value] or Robot.Speed [robotIndex] in the instruction editing area on the macro language interface. (Where robotIndex is the index number of the robot and its type is Integer;...
Page 144: Speed Adjustment During Motion
AH6 Robot User Manual Example 2: Robot.Speed 1 // Return to [ 0 10] Note: Set the speed of the first robot to 10 Speed adjustment during motion Method of adjusting the speed of a certain point in the process of robot...
Page 145: Emergency Stop And Recovery
Chapter 6 Robot Operation Profile prof3 = 80,80,80,0.1,0.1 // Create an object named prof3 and assign a value to the parameter. Prerequisite: The control authority is 0/1 (set authority with System.LogIn). Step 2 Enter Profile.Set [robotIndex], [ProfileName] and send an instruction to the robot.
Page 146: Table 6-4 Handling Methods
AH6 Robot User Manual safety. The manual operations should be adjusted according to different scenarios. The robot may be stopped in an open area or stuck between obstacles. The handling methods are shown in 错误!未找到引用源。.Ensure that the robot is in a safe position before releasing the emergency stop button to complete the recovery on it after the emergency stop.
Page 147: Robot Power-Off
Chapter 6 Robot Operation robot and move it to a safe position 6.10 Robot power-off When it is necessary to stop or maintain the robot, it needs to be powered off with the two methods as follows: Method 1 (Jog the ARM interface): Step 1 Stop the program that the robot is running.
Page 148 AH6 Robot User Manual Method 2 (send macro instruction): Prerequisites: ① Manual or auto mode; ② The control authority is 0/1 (set authority with System.LogIn). Step 1 Stop the program that the robot is running. Step 2 Enter Robot.PowerEnable [robotIndex], 0 in the instruction editing area on the macro command debugger.
Page 149: Technical Service
Chapter 6 Robot Operation Technical Service QKM Technology Co., Ltd. is committed to providing you with technical information on machine motion and operation to help you remove faults and reply to your inquiry in detail. If your robot or equipment fails during use, you can contact our service department and provide information below as much as possible: ...
Page 150 Document Version V1.2.0 (01/06/2023)

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