Lexium Cobot EcoStruxure Cobot Expert – Configuration Training Confidential Property of Schneider Electric General Cobot Expert – Configuration 1 Confidential Property of Schneider Electric | Page 2 General 1 Offer 2 Architecture 3 Manual Operation 4 Programming – Blockly (Scratch) Cobot Expert – Configuration 2 Confidential Property of Schneider Electric | Page 3 General 5 I/O Functions 6 Programming - Script 7 Socket Communication Cobot Expert – Configuration 3 Confidential Property of Schneider Electric | Page 4 General 8 Safety Settings 9 Fieldbus 10 Lexium Cobot Communication Lib Lexium Cobot Offer Document outline Confidential Property of Schneider Electric | Page 5 General Offer 5 different Sizes Confidential Property of Schneider Electric | Page 6 General Offer Specification Details Working Radius: 626 – 1327mm Confidential Property of Schneider Electric | Page 7 General Non-SE Equipment Check activated with FW51 and APP39 Confidential Property of Schneider Electric | Page 9 General Offer Controllers • 3 reference (3, 5/7, 12/18) Standard Control Cabinet • 1 reference • needs external Power Supply (48V DC) Compact Control Cabinet Confidential Property of Schneider Electric | Page 10 General Offer Compact Controller - Derating Confidential Property of Schneider Electric | Page 11 General Offer Intended Use and Performance (3kg) Confidential Property of Schneider Electric | Page 12 General Offer Application Examples - SE A machine with a screen and buttons Description automatically generated Confidential Property of Schneider Electric | Page 13 General A machine in a factory Offer Description automatically generated Application Examples – Other A machine with a wheel in a glass case Description automatically generated IA Campus - Cobot IA Campus - Cobot Confidential Property of Schneider Electric | Page 15 General Lexium Cobot Architecture Confidential Property of Schneider Electric | Page 16 General Architecture Cobot System – Standard Controller Confidential Property of Schneider Electric | Page 17 General Architecture Cobot System – Compact Controller Confidential Property of Schneider Electric | Page 18 General Architecture Connectivity – Standard Controller • • internal Eth1 (DHCP) for Service IP1: 10.5.5.100 Eth1 • external Eth2 for Operation and Fieldbus • WIFI • IP2: Configurable Eth2 / WLAN Confidential Property of Schneider Electric | Page 19 General Activity 1 & 2 – Getting Started Confidential Property of Schneider Electric | Page 20 General Software Versions Confidential Property of Schneider Electric | Page 21 General Architecture Joints source: Kawasaki Confidential Property of Schneider Electric | Page 24 General Architecture Coordinate Systems Z Y Z X World (Joint 1 = 0°) TCP (End Flange Center) X Y Confidential Property of Schneider Electric | Page 25 General Architecture All joints 0 Confidential Property of Schneider Electric | Page 26 General Lexium Cobot Manual Operation Confidential Property of Schneider Electric | Page 27 General Manual Operation Operator Interface – Control Stick Cabinet On/Off Power / Enable Program Start/Stop Home (Home Position) Program Pause/Resume Lock / Function indication if locked Robot Status Confidential Property of Schneider Electric | Page 28 General Manual Operation Operator Interface – Tool End • Play/Pause button • Illuminated light ring: Powered On Fault Enabled Drag Mode Paused (flashing) Confidential Property of Schneider Electric | Page 30 General Manual Operation Control Source (Read Only Mode in Development) Cobot Expert (Programming) PLC/Fieldbus (Operation) Commands: • Physical IO • Fieldbus • LCC Lib Control Stick (Local Operator Control) Confidential Property of Schneider Electric | Page 31 General Manual Operation Control Screen Confidential Property of Schneider Electric | Page 32 General Manual Operation Singularity Rsing Cylindrical space formed by distance Rsing between intersection of axes five and six to one Joint four and joint six are parallel Confidential Property of Schneider Electric | Page 33 General Same as on the left, but different pose Activity 3 & 4 – Manual Operation Confidential Property of Schneider Electric | Page 34 General Lexium Cobot Programming Scratch (Blockly) Confidential Property of Schneider Electric | Page 35 General Programming Blockly Instructions Confidential Property of Schneider Electric | Page 36 General Programming Blockly Handling Connect & Edit 1 Confidential Property of Schneider Electric | Page 37 General Configure Variable or Calculation 2 3 Programming Blockly Controls Confidential Property of Schneider Electric | Page 38 General Activity 5 - 7 – Programming Blockly Confidential Property of Schneider Electric | Page 40 General Programming Blockly Movements – Arc Transition (Blending) Confidential Property of Schneider Electric | Page 42 General Programming Blockly Movements – Compared 1. Linear (Stop) 3.5s 2. Joint (Stop) 3.2s 3. Joint (10mm arc) 2.8s 4. Linear (10mm arc) 3.2s 5. Linear (50mm arc) 2.8s Confidential Property of Schneider Electric | Page 43 General Programming Blockly Movements – Compared Linear (Stop) Linear (10mm) Joint (Stop) Joint (10mm) Confidential Property of Schneider Electric | Page 44 General Linear (50mm) Programming Blockly InverseKinematics (Arm Configuration) Confidential Property of Schneider Electric | Page 45 General Programming Blockly Program Settings Automate Startup Pause/Resume Button Program Backup Default Program Confidential Property of Schneider Electric | Page 46 General Activity 8 – Default Program Confidential Property of Schneider Electric | Page 47 General Programming Blockly Teaching • Activate PROGRAM Screen • Start Recording from SETTINGS • Press „POINT“ Button on Cobot • Move Robot • Stop Recording from STATUS Point Trajectory Confidential Property of Schneider Electric | Page 48 General Activity 9 – Trajectory Confidential Property of Schneider Electric | Page 49 General Lexium Cobot IO Confidential Property of Schneider Electric | Page 50 General IO 4 different Sources 1. Physical IO 2. Tool IO 3. Modbus IO (server, e.g PLC) 4. Dynamic (Extended) IO (client, e.g. IO island) Confidential Property of Schneider Electric | Page 51 General Architecture Physical IO – Standard Controller • 2 groups of 8x DI • 2 groups of 8x DO • • Remote ON/OFF inputs • Incremental Encoder interface (HSI) • Reset Buttons: 2 configurable AI/AO: Confidential Property of Schneider Electric | Page 52 General • S01 – WIFI • S02 - Account Architecture Connectivity – Standard Controller • internal Eth1 (DHCP) for Service • external Eth2 for Operation and Fieldbus • Modbus SL (RS485) • WIFI • IP1: 10.5.5.100 • IP2: Configurable Eth1 / Serial Line Eth2 WLAN Confidential Property of Schneider Electric | Page 53 General Architecture Physical IO – Compact Controller • 5 GP IO (2x Safety IO) • 1 Protective Stop (CN 21) • 1 Emergency Stop (CN 28) Confidential Property of Schneider Electric | Page 54 General • Remote ON/OFF inputs (CN 21) • Reset Buttons: • S01 – WIFI • S02 - Account Architecture Connectivity and Power Supply – Compact Controller • Modbus SL (RS485) • external Eth2 for Operation and Fieldbus • Eth1 as service interface • WIFI • IP1: 10.5.5.100 • IP2: Configurable Eth1 / Serial Line Eth2 WLAN Confidential Property of Schneider Electric | Page 55 General IO Setup • Rename, Assign Function, Monitor Status of DI • Rename, Assign Function, Switch value of DO • Multiplex RS485 on TIO Confidential Property of Schneider Electric | Page 56 General IO Setup – Terminal IO Supply Confidential Property of Schneider Electric | Page 57 General Architecture Gripper Schunk → Force setting via rotary switch Schmalz → vacuum at the flange Zimmer analog closing feedback → Confidential Property of Schneider Electric | Page 58 General Architecture Gripper Schunk: ID: 1555244 (Co-act: EGP-C 40-N-N-SELX) Schmalz: Standalone: Part no.: 10.03.01.00852 (ROB-SET ECBPMi SE) MATCH Gripper: Part no.: 10.03.01.00661 (ECBPMi 24V-DC MATCH) Zimmer: MATCH Base: LWR50F-06-01-A MATCH Gripper: LWR50L-03-00002-A Confidential Property of Schneider Electric | Page 59 General IO Modbus Server – Digital IO Confidential Property of Schneider Electric | Page 60 General IO Modbus Server – Analog IO Confidential Property of Schneider Electric | Page 61 General Activity 10 – Modbus IO Activity 11 – Process IO Data in Program Confidential Property of Schneider Electric | Page 62 General IO Tool IO Modbus Communication Send: Receive: Confidential Property of Schneider Electric | Page 63 General IO Dynamic (Extended) IO • Additional IO via ModbusRTU or ModbusTCP Maximum amount: 32x AIO and 64x DIO with max. 8 modules. Confidential Property of Schneider Electric | Page 64 General Lexium Cobot Programming - Script Confidential Property of Schneider Electric | Page 70 General Programming - Script Keywords and Features • Single line instructions • Comments started by # • Calculation in brackets x = (a + 5) • Access to system variables: Confidential Property of Schneider Electric | Page 71 General Programming - Script Positions and Instructions Confidential Property of Schneider Electric | Page 72 General Activity 12 – Script Confidential Property of Schneider Electric | Page 73 General Lexium Cobot Socket Communication Confidential Property of Schneider Electric | Page 74 General Socket Communication Instruction Overview Blockly Script Confidential Property of Schneider Electric | Page 75 General Socket Communication Syntax Command Request Response Receive Variable – Real get <VariableName> <VariableName><1234> Receive Variable – String get <VariableName> <VariableName><“Happy“> Receive Variable – Array get <VariableName> <VariableName><[1, 2, 3, 4]> Receive Array get #real#NUM# <[1, .., NUM]> Send <1234> 1234 Send <“Hello World“> Hello World Send <[1, 2, 3, 4]> 1, 2, 3, 4 Confidential Property of Schneider Electric | Page 76 General Socket Communication Testing with Herkules 1. Enter Port and click „Listen“ 2. Prepare Answer in “Send” Area (or external Editor) 3. Copy Answer to Clipboard 4. Paste Answer into “Sent data” Confidential Property of Schneider Electric | Page 77 General Activity 13 – Socket Communication Confidential Property of Schneider Electric | Page 78 General Activity 16 – Socket Communication PacMan 3 1 4 Confidential Property of Schneider Electric | Page 79 General 2 Lexium Cobot Safety Settings Confidential Property of Schneider Electric | Page 80 General Safety Settings User Management Operator Program Control Technician + Settings Administrator + SAFETY Confidential Property of Schneider Electric | Page 81 General • Load Programs • Run Programs Safety Settings Cobots are Safe - ALWAYS Risk Assessment EN ISO 12100:2010 Safety of machinery EN ISO 10218-1:2025 Robots EN ISO 10218-2:2025 Robot systems and integration Power and Force Limiting (PFL) Confidential Property of Schneider Electric | Page 82 General Safety Settings Why a Cobot? Cost of Ownership Safety Efficiency • Lower COO • Collaborative Design • Ease of Use and Training • In-house integration • Safety Functions • Easy Programming • Small footprint • Human “may” enter Robot Workspace Confidential Property of Schneider Electric | Page 83 General • Very quick Unboxing and Setup Safety Settings Is it really collaborative? Robot Cell Coexistence Cooperation source: Frauenhofer IGCV Confidential Property of Schneider Electric | Page 84 General Collaboration Safety Settings Power and Force Limiting (PFL) Avoid Monitor Validate (if needed) Passive Protective Measures Active Technical Protective Measures Determination of Biomechanical Loads source: DGUV-Information, FB HM-080 Confidential Property of Schneider Electric | Page 86 General Safety Settings Capabilities for Collaborative Applications (IEC10218-1 5.10) 1. Hand Guiding (HGC) → Active Human Control 2. Speed & Separation Monitoring (SSM) → Reduce Speed or Stop (depending on Distance) 3. Power and Force Limiting (PFL) 1. Quasi-static (Clamping) 2. Transient (Bumping) → Limit Contact Force Confidential Property of Schneider Electric | Page 87 General Safety Settings Power and Force Limiting (DIN ISO_TS_15066) Confidential Property of Schneider Electric | Page 88 General Safety Settings Risk Management PILZ PRMS GTE CoboSafe Confidential Property of Schneider Electric | Page 90 General Safety Settings Enable the Robot – Safety Prompt 2 1 3 Confidential Property of Schneider Electric | Page 91 General Safety Settings Safety Checksum Confidential Property of Schneider Electric | Page 92 General 1 Safety Settings Installation Confidential Property of Schneider Electric | Page 93 General 2 Safety Settings Load - Manual Confidential Property of Schneider Electric | Page 94 General 2 Safety Settings Load - Identification 1 2 Confidential Property of Schneider Electric | Page 95 General Safety Settings Load – Instruction Confidential Property of Schneider Electric | Page 96 General Safety Settings Load - Capacity Distance from End Flange Center Confidential Property of Schneider Electric | Page 97 General 3 Safety Settings Collision Protection (SF 14) – Quick Setup Frequires external ACK! Confidential Property of Schneider Electric | Page 98 General Safety Settings Collission Protection – Custom Setup Confidential Property of Schneider Electric | Page 99 General Safety Settings Force Limitation - Background Confidential Property of Schneider Electric | Page 100 General Safety Settings Safety Zone (SF 11) Confidential Property of Schneider Electric | Page 101 General Safety Settings Safety Zone – Mode Selection Always active (even in Drag mode) Active with automatic program only (not in Drag mode) Cat.1 Stop, robot will be disabled and brakes active Cat.2 Stop, program paused max. speed 250mm/s Confidential Property of Schneider Electric | Page 102 General Safety Settings Reduced Mode (SF 18) – Standard Controller • Reduced Mode available via Safety Inputs (3kg): • TCP Speed: max. 250mm/s • Elbow Speed: max. 250mm/s • Momentum Limit: 0.8kg*m/s • Power Limit: 35W Confidential Property of Schneider Electric | Page 103 General Safety Settings Reduced Mode (SF 18) – Compact Controller • Reduced Mode available via Safety Inputs (3kg): • TCP Speed: max. 250mm/s • Elbow Speed: max. 250mm/s • Momentum Limit: 0.8kg*m/s • Power Limit: 35W Confidential Property of Schneider Electric | Page 104 General (Safety Settings) Reduced Configuration – Velocity Override Mode (Application Function , NOT Safety) • Level 1 and Level 2 available via standard inputs: Confidential Property of Schneider Electric | Page 105 General Safety Settings 3-Position Enable • Prevent Jog-Mode only • Must be combined with Protective Stop! IDEC HT3P (reference HT3PSLNP-5M) Confidential Property of Schneider Electric | Page 106 General Safety Settings IDEC HT3P Wiring Confidential Property of Schneider Electric | Page 107 General Activity 14 - 15 – Joint Limit and Safety Planes Confidential Property of Schneider Electric | Page 109 General Safety Settings Tool Orientation Limit (SF 10) Confidential Property of Schneider Electric | Page 110 General Activity 16 – Tool Orientation Confidential Property of Schneider Electric | Page 111 General Lexium Cobot Fieldbus Confidential Property of Schneider Electric | Page 112 General Fieldbus Settings PROFINET EtherNet/IP Confidential Property of Schneider Electric | Page 113 General Fieldbus EtherNet/IP M262 PAC Drive Confidential Property of Schneider Electric | Page 114 General Fieldbus PROFINET (PAC Drive) Confidential Property of Schneider Electric | Page 115 General Lexium Cobot Lexium Cobot Communication Library (LCC) Confidential Property of Schneider Electric | Page 116 General Lexium Cobot Communication Library Purpose • Easy integration in Machine Environment • Control from PLC/HMI without EcoStruxure Cobot Expert • no program required • system setup necessary Confidential Property of Schneider Electric | Page 117 General Lexium Cobot Communication Library (LCC) Overview Program Control ➢ Select Programs Core Functionalities ➢ Run / Pause / Stop Program ➢ Establish Connection ➢ Variable Exchange ➢ Power On / Off Lexium Cobot Arm Direct Motion ➢ Linear / Circular / Joint Motions ➢ Enable / Disable Lexium Cobot Arm ➢ Blended Motions ➢ Select Coordinate System ➢ Retrieve Feedback Data ➢ Select TCP ➢ Payload Settings Confidential Property of Schneider Electric | Page 118 General Lexium Cobot Communication Library (LCC) Global Parameter Confidential Property of Schneider Electric | Page 119 General Lexium Cobot Communication Library (LCC) Connect Without TLS With TLS Confidential Property of Schneider Electric | Page 121 General Lexium Cobot Communication Library (LCC) Main Instances Page 122 General Lexium Cobot Communication Library (LCC) System Setup • Installation • (Frames) • • • • • • Joint Limits Collision Protection Reduced Mode Safety Planes Tool Direction Safety IO • Robot Name • User Management • Default Program • Automatic Start • Fieldbus • Tool IO Power Supply Confidential Property of Schneider Electric | Page 123 General Lexium Cobot Communication Library (LCC) Program Control vs. Motion Command • Load and Start Program • Control Robot Movement with Commands • Monitor Status via Feedback FB • Flexible Integration into Machine Application (None / Stick / App / Remote) Program Control Motion Command Confidential Property of Schneider Electric | Page 124 General Lexium Cobot Communication Library (LCC) Setup Commands • • GetCoordinateSystems GetTCPs • GetPayload • GetSystemVariables Get • SelectCoordinateSystem (0..10) • SelectTCP (0..10) • SetPayload • SetSystemVariable • SetSpeedOverride (Program Speed) Set Confidential Property of Schneider Electric | Page 125 General Lexium Cobot Communication Library (LCC) Program Control vs. Motion Command • GetLoadedProgramName • MoveL • LoadProgram • MoveJ • MoveC • MoveTCP (MoveJ based on Cart Pos.) • StartProgram • PauseProgram • ResumeProgram Program Control Motion Command Confidential Property of Schneider Electric | Page 126 General Lexium Cobot Communication Library (LCC) Feedback Confidential Property of Schneider Electric | Page 127 General Lexium Cobot Communication Library (LCC) Robot Status Information from FB_CobotControllerFeedback • • etMode: • Manual • Automatic → program active (or motion command sent) • Drag hand-guided mode → → no program active and not in hand-guided mode etProgramState: Confidential Property of Schneider Electric | Page 128 General Lexium Cobot Communication Library (LCC) Motion Commands – Position Definition • LCC.ST_Joints • lrJoint1 • lrJoint2 • lrJoint3 • lrJoint4 • lrJoint5 • lrJoint6 • Joint GEM.ST_CartesianPose Cartesian Confidential Property of Schneider Electric | Page 129 General Lexium Cobot Communication Library (LCC) Motion Command - Handling 1. Wait for xCommandAcknowledged / ..Failed (Controller) 2. Check rstData.udiCommandId (Feedback) 3. Monitor xInPosition (Feedback) Confidential Property of Schneider Electric | Page 130 General Lexium Cobot Communication Library (LCC) Motion Sequence - Handling 1. Check initial MANUAL status for sequence 2. Optional: monitor programState = IDLE 3. End sequence with Stop Confidential Property of Schneider Electric | Page 131 General Lexium Cobot Communication Library (LCC) Motion Sequence – Example (Video) Confidential Property of Schneider Electric | Page 132 General Lexium Cobot Communication Library (LCC) Motion Sequence – Example (Code) Confidential Property of Schneider Electric | Page 133 General Lexium Cobot Applications Confidential Property of Schneider Electric | Page 134 General Applications Palletizing General Applications Welding / Glueing General Applications Belt Tracking General Lexium Cobot Service Confidential Property of Schneider Electric | Page 138 General Service Maintenance Schedule / Exchangeable Parts • Fan Filter (Standard Controller) • Power Supply Cable • Robot Arm Cable (not with 3kg) • Control Stick • Tool IO Cable Confidential Property of Schneider Electric | Page 139 General Service Options for Moving the Robot Without Drive Energy (Release Blocked Joint) NOTE: Moving the Lexium Cobot Arm manually is intended in emergency cases only! Manual Forcing of Mechanics Manual Release of Holding Brakes General General