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72 

Range of functions 

7

 

 
 

en 

 

 

 

 
In the 

Displacement 

figure, you can see the SFE without affixed flange plates. The transformation 

chain must then contain the respective mounted flange. 
The following transformations must be entered for the supplied flanges: 

Adapter plate 

Transformation Z 

R124500039 

13.50 mm 

R124500041 

16.00 mm 

R124500055 

16.00 mm 

21 

Transformation 

 
Depending on how the robot flange coordinate system is, the transformation to the SFE base must be 

expanded more, for example, by a rotation on Z. This depends on the robot. 
In the following example, flange R124500039 is installed. 

 

 

Transformation chain for locked SFE 

 

 

Transformation chain for unlocked SFE 

 

Summary of Contents for Rexroth SFE

Page 1: ...R320103228 en SMART Flex Effector ...

Page 2: ...ase the user from the obligation of own judgment and verification It should be noted that our products are subject to a natural process of aging and wear Bosch Rexroth AG All rights reserved including rights of disposal utilization reproduction processing circulation and application for industrial property rights The title page contains an illustration of a sample configuration The product as deli...

Page 3: ... Product description 16 3 1 Axial alignment 16 3 2 Data sheet 17 3 3 Scope of delivery 19 3 4 Product marking 20 4 Assembly 21 4 1 Fitting the adapter plate 22 4 2 Fitting the SFE flange cover on the flange 23 4 3 SFE assembly on flange cover 24 4 4 Electrical assembly 24 5 Desktop software SFE tool as a file for download 26 5 1 Screen settings 27 5 2 Setting up the connection 29 5 3 Changing the ...

Page 4: ...ions 69 6 7 Example communication 70 7 Range of functions 71 7 1 Transformation chain 71 7 2 Handling 74 7 2 1 Initial temperature compensation when starting up and after each restart 74 7 2 2 Handling errors 74 7 2 3 Moving at high travel speed 80 7 2 4 Using the locked and unlocked transformation chains 80 7 3 Exemplary application cases 81 7 3 1 Exact alignment of the robot above a component 81...

Page 5: ...ntents en 8 1 BSD 2 clause FreeBSD License 88 8 2 BSD Three Clause License 89 8 3 RSA MD4 or MD5 Message Digest Algorithm License 90 8 4 MIT License 90 9 Appendix 91 9 1 Table of figures 91 9 2 Table of figures 92 ...

Page 6: ...sing firmware The SFE is a sensor based compensation module with independent kinematics in six degrees of freedom It increases precision e g in handling robots and opens up new areas of application for robots and Cartesian systems The SFE was designed to compensate for a process related offset in the translations X Y Z and the rotations Rx Ry Rz A mechanical locking feature is integrated into the ...

Page 7: ...ot flange ISO 9409 1 50 4 M6 adapter plate on gripper side ISO 9409 1 40 4 M6 R124300008 robot flange Blank adapter plate on gripper side ISO 9409 1 40 4 M6 Additional adapter plate in size ISO 9409 1 50 4 M6 R124300009 robot flange ISO 9409 1 31 5 4 M5 adapter plate on gripper side ISO 9409 1 50 4 M6 R124300010 robot flange ISO 9409 1 40 4 M6 adapter plate on gripper side ISO 9409 1 50 4 M6 R1243...

Page 8: ...cians Caution This documentation contains important information for the proper and safe installation and commissioning of the product This documentation especially the section Safety instructions is to be read completely before working with the product 1 2 Structure of safety information Hazard classification The hazards that can occur at the machine are divided into the following classes Danger W...

Page 9: ...f the safety regulations are not observed the hazard may result in minor injuries Caution Type and source of hazard Hazard consequence Remedy Caution This warning notice indicates a hazard with low risk If the safety regulations are not observed the hazard may result in damage to property Caution Type and source of hazard Hazard consequence Remedy 1 3 Abbreviations The following abbreviations are ...

Page 10: ...product Flange mounting to a handling system between the flange plate and a tool such as a gripper Integration into a machine system or attachment to a robot The applicable directives must be observed and adhered to The SFE may be used for passive compensatory movements and transfers of position The SFE may be unlocked for the duration of handling process with active contact of tools and a workpie...

Page 11: ...revented from reaching the position compensation end positions it is recommended that you start the system with a travel speed lower than 100 mm s when setting up applicative processes in an unlocked state Oscillating movement patterns must be avoided during operation in an unlocked state as this may cause damage to the device 2 3 Residual risks Risks of damage failure or destruction are Removing ...

Page 12: ...state manual with reduced travel speed Caution TPE bellows If the bellows are exposed to oil and grease for a longer period of time this may lead to damage Processes in which an absence of PWIS must be guaranteed may be influenced by this Avoid wetting and residues and remove these promptly Avoid mechanical damage which may cause tears holes in the bellows Do not expose the SFE to applications whe...

Page 13: ... due to incorrect insertion of the connector Incorrectly inserted connectors and bent pins may cause damage to the SFE and short circuits Ensure that the connector is inserted in the correct position when connecting the cable and do not bend any pins Caution Damage and short circuit due to tension on the connection cable Tension on the connection cable pins may cause damage to the SFE and short ci...

Page 14: ...ation If unsuitable products are installed or used in safety critical applications this may lead to uncontrolled operating statuses in the application which can cause personal injury and or damage to property You should therefore only use product in safety critical applications if this use has been expressly specified and permitted in the product documentation You may only commission the product o...

Page 15: ...d persons working under the supervision of a trained specialist A trained specialist is a person whose professional training knowledge experience and familiarity with the relevant regulations enable him her to assess the tasks assigned to him her identify potential hazards and take appropriate safety precautions A trained specialist must adhere to the relevant technical rules and standards 2 7 Per...

Page 16: ...elements in all 6 degrees of freedom The deflection is monitored via sensors and can be read via an RS 485 interface see Interface description It is also possible to lock the system This blocks the system s freedom of movement The user can choose to control the locking mechanism via the RS 485 interface or digital I O The element is supplied with a DC voltage of 24 V via the connection cable 3 1 A...

Page 17: ...Compensation angle XY 3 4 Compensation angle Z 6 8 Max handling weight kg 6 Operating limits in the locked state Max sum of load torques Mx My locked state Nm 15 The permissible torque stated here relates to a reference point within the SFE When determining the lever arm from the tool side flange a compensation distance of 33 mm must be added the shoulder height of the tool side flange is not incl...

Page 18: ...ive error a standard deviation mm 0 077 Typical repeatability a standard deviation mm 0 009 Typical angle alignment error a standard deviation 0 157 Typical repeatability a standard deviation 0 02 Sampling rate determined at a baud rate of 921600 Bd ms 10 Power supply voltage V 24 DC 20 10 Rated current A 1 Maximum current when locking unlocking A 1 5 Maximum cable length of the DC supply m 5 Maxi...

Page 19: ...0 6x TORX ISO 14583 for fastening the flange 3 2 Connection cable M8x1 8 pin 3 Flange 3 the required version must be selected ISO 9409 50 4 M6 R124000010 ISO 9409 40 4 M6 R124000011 ISO 9409 31 5 4 M5 R124000012 Blank R124000013 Screws and cylinder pin included in the scope of delivery Assembly by the customer ...

Page 20: ...20 ISO 9409 40 4 M6 R124000021 Blank R124000022 Screws and cylinder pin included in the scope of delivery Assembly on the SFE core module 1 by the customer 3 Brief instructions 3 4 Product marking Nameplate The product nameplate bears the following information Labeling Meaning MNR Material number SN Serial number FD Date of manufacture 4 Nameplate ...

Page 21: ...ion of the flange cover and adapter plate may result in parts becoming loose during assembly and production which may then lead to personnel injury and material damage Only connect the flange cover and adapter plate with screws which are compliant with the standard DIN 6912 Caution Incorrect sealing of the element Incorrect sealing of the element may mean that IP54 is not met Seal the element at t...

Page 22: ... x 12 Fitting the adapter plate Position the adapter plate 1 with the cylinder pin Ø5 2 at the SFE 3 Fix the adapter plate 1 in place on the SFE with the three screws 5 using the drill hole M6 thread 4 When doing so ensure that the screws used do not protrude beyond the thread length Tightening torque 10 25 Nm ...

Page 23: ...ge cover Screws M6x12 or M5x10 Cylinder pin Ø6 or Ø5 Flange cover assembly on counter flange Position the flange cover 3 on the counter piece using the cylinder pin 1 Fix the flange cover 3 in place using the four cylinder head screws 2 hexagon bit 4 or hexagon bit 5 Tightening torque 6 Nm ...

Page 24: ...bly Caution Damage and short circuit due to incorrect insertion of the connector Incorrectly inserted connectors and bent pins may cause damage to the SFE and short circuits Ensure that the connector is inserted in the correct position when connecting the cable and do not bend any pins Caution Damage and short circuit due to tension on the connection cable Tension on the connection cable may cause...

Page 25: ...ay cause damage to the SFE and short circuits Ensure that the SFE is disconnected from power before connecting or disconnecting the cable Assembly Once mechanical assembly of the SFE is complete the power cable is attached to the intended connector The alignment of the lug must be observed here Connector for the SFE ...

Page 26: ...SFE functions and also to update the software Download the desktop software via the Rexroth homepage URL www boschrexroth com product link cat LT p p1079843 Then accept the terms and conditions Minimum PC requirements Operating system Windows 10 64 bit with at least 8 GB RAM 2 cores Recommended at least 16 GB RAM Screen resolution at least 1100 x 760 pixels ...

Page 27: ...te If the SFE tool cannot be shown completely on the screen of a few devices this problem can be rectified using the settings explained in the following Screen Action steps Right click on SFE_Tool exe The dialog window opens Open the Properties in the bottom section of the window ...

Page 28: ...28 Desktop software SFE tool as a file for download 5 en Screen Action steps Click on Change high DPI settings Activate the checkbox in the Override field 5 Screen settings ...

Page 29: ...a USB A adapter The following RS485 adapter has been tested and may be used to connect the SFE to the PC Digitus DA 70157 Note Other RS485 adapters may behave differently Reconfiguration in the device manager may be necessary The settings required for this vary depending on the drivers and can therefore not be stipulated with certainty Open the SFE tool ...

Page 30: ...et the Baudrate to Auto 3 Click Connect 4 Note The CRC check of the commands is activated by default This setting can be retained If the connection was successful the color of the writing under CONNECTION STATE Connected Version xyz changes to green The baud rate is adjusted automatically New functions are available on the left hand side Open the function bar via the list symbol on the top left 6 ...

Page 31: ...en 5 3 Changing the language Screen Action steps Navigate to the Settings 1 tab Select the desired language in the drop down menu 2 Close the SFE tool 3 Restart the SFE tool You can see the changed language settings when it restarts 7 Changing the language ...

Page 32: ...ownload 5 en 5 4 Updating the firmware Screen Action steps Navigate to the Settings 1 tab Click on Update Firmware 2 Click on the folder symbol to select the firmware file An Explorer view opens Select the firmware file zip folder 1 Click Open 2 ...

Page 33: ...activated Problems may occur in particular because of high baud rates and long connection cables Click on Flash 2 The firmware update process starts Note During the Flash process the power supply of the SFE unit must not be interrupted Once the firmware update is complete Flashed successfully is shown as a message 1 Confirm with OK 2 Close the Firmware Update window with X 3 Check the FIRMWARE VER...

Page 34: ...5 Export SFE configuration Screen Action steps Navigate to the SFE config tab Click Read from Device 1 The configuration data is shown 2 Note The configuration data for each of the six position sensors can be shown by clicking on the respective sensor number 3 ...

Page 35: ...xported baud rate LED quality threshold motor lock timeout motor velocity temperature compensation lock mode Exporting with calibration data All configuration data is exported including the motor and calibration configuration performed at the factory Note An export file with calibration data can only be imported in calibration mode As calibration mode is only available for calibration at the facto...

Page 36: ...mmend that you do not change the name of the export file as the suggested file name contains information about the scope of data save date and time 2 Click Save to save the configuration file 9 Export SFE configuration 5 6 Import SFE configuration Screen Action steps Navigate to the SFE config tab Click Import The import of configuration data is started ...

Page 37: ... Open 3 The import is displayed Check the data to be imported 1 Click Write to Device 2 to import the data Note You cannot import a calibration file This is why the corresponding checkbox 3 cannot be selected The successful import is confirmed by the message Configuration was transferred successfully 1 Click OK 2 to acknowledge the message 10 Import SFE configuration ...

Page 38: ... selected commands 2 as well as a line for entering commands via keyboard 3 Commands can be entered via the command line 1 Clicking Send 2 sends the commands Commands which have already been entered can be entered again using the Up arrow key The sent command and the returned values are shown 1 Click Clear Output to empty the screen 2 11 Using the console ...

Page 39: ...Ry Deflection in Ry direction in Rz Deflection in Rz direction in CalcTime ms Required time for calculating the measured values in mm from the raw values D1 raw Raw value sensor 1 in counts D2 raw Raw value sensor 2 in counts D3 raw Raw value sensor 3 in counts D4 raw Raw value sensor 4 in counts D5 raw Raw value sensor 5 in counts D6 raw Raw value sensor 6 in counts Temperature C Actual temperatu...

Page 40: ...ick on Zero Sensors 5 to remove the offset of the measured values Note This option is not available in the default settings This is because as part of the temperature compensation in the locked state the measured values are compensated depending on the ambient temperature at which the offset is removed Even if the temperature compensation is switched off it is not possible to only zero the sensors...

Page 41: ...surements 5 9 Viewing and exporting service data Screen Action steps Navigate to the Service 1 tab Click Update to open the error log 2 When you activate the checkbox Auto Update Service Data the service data first line on the screen run time etc is continually updated 3 If necessary click Export pdf 4 to export the service data Note If the baud rates are low updating the error log can take longer...

Page 42: ...urly brackets and separated from one another using commas After type the user sets whether this is a comment or a test stage Once the designation of the test stage has been stated after name the command to be tested can be determined after the label test The command return is compared with the expected result after regex If these match the test was successful and appears in green in the SFE tool I...

Page 43: ...43 Desktop software SFE tool as a file for download 5 en Using the testcases type type A defined delay of the subsequent test stages can be implemented using the type type ...

Page 44: ...in pdf format By activating the checkbox Repeat Failed Tests 7 only the failed tests are repeated successful tests are only performed once Note Additional testcases can be implemented and saved in json format in the folder structure of the software tool The user specific tests then also appear in the lists of tests which can be selected When you activate the checkbox Custom Test 1 individual testc...

Page 45: ...s folder you can also create your own Testfiles These can be selected and opened via the tool after restarting the SFE tool 14 Using the testcases 5 11 Opening the Smart Flex Effector website Screen Action steps Navigate to the About 1 tab Click on the Website link The SFE website opens in the browser 15 Opening the Smart Flex Effector website ...

Page 46: ...en 5 12 Viewing open source license texts Screen Action steps Navigate to the About 1 tab Select a package from the list of all open source software packages used in the SFE tool GUI The related license text is shown 3 16 Viewing open source license texts ...

Page 47: ...ted signal 2 Brown RS485 I O RS485 communication inverted Signal 3 Green Ground I O Power supply IO interface mass 4 Yellow Digital Out Lock State O Lock state low unlocked high locked 5 Grey Digital Out Error O Status error low no error high error 6 Pink Digital In Lock Unlock I Controlling the locking low unlock high lock 7 Blue 0 V Power supply Power supply voltage mass 8 Red 24 V Power supply ...

Page 48: ...ts with a controller The SFE measures a displacement for the 6 degrees of freedom X Y Z RX RY RZ which is caused by the contact between the gripper and a component The SFE deflection is read by the robot controller via the communication interface and can be processed there in order to align the robot correctly over the component being gripped for instance The SFE can be locked via the RS 485 inter...

Page 49: ... for the connection setup Baud rate 38400 may vary after the initial startup Bits 8 Parity none stopBits 1 timeout 0 6 3 Structure of the commands 6 3 1 Fundamental structure of the commands The command set is divided into three groups GET SET and CTR These groups are subdivided once more into the areas locking sensors diagnostics LED modes and system GET commands allow you to query parameters and...

Page 50: ...ked for transmission errors This check is optional The checksum can be calculated by the user Example function in C Copyright c 1999 2016 Lammert Bies https github com lammertb libcrc license text MIT License in the section Third party license information Checksum Modbus CRC16 1 2 uint16_t crc_modbus const unsigned char input_str size_t num_bytes 3 4 The function crc_modbus calculates the 16 bits ...

Page 51: ...19 Examples of calculated checksums If the user sends commands to the SFE unit via the serial interface they can add the checksum Modbus CRC16 if they wish The SFE unit then checks the transmitted data from the user for errors If there is a transmission error the SFE unit responds with an error message Examples Command from the user including CRC checksum Response from SFE unit Result of the check...

Page 52: ...hecksum Modbus CRC16 to every command and checks the response of the SFE unit for correctness using the checksum Important note The checksum which is attached to the command by the SFE tool is not displayed in the SFE tool console In addition the checksum of the response attached by the SFE unit is also not shown in the console ...

Page 53: ...escription of transmission parameters Transmission type Receive GET MOT_LOCK_STATE LOCKED Description of response parameters Lock state Response type ENUM LOCKED UNLOCKED TIMEOUT RUNNING ERROR Functional description Querying the lock mode Send GET LOCK_MODE Description of transmission parameters Transmission type Receive GET LOCK_MODE SERIAL Description of response parameters Lock mode Response ty...

Page 54: ... response parameters Motor Lock Timeout Response type UINT32 ms 6 4 2 Sensors Functional description Querying the deflection of the adapter plate and status Send GET POSE Description of transmission parameters Transmission type Receive GET POSE 0 004 0 003 0 003 0 003 0 003 0 005 OK Description of response parameters x position y position z position Rx position Ry position Rz position status Respo...

Page 55: ...R filter length Description of response parameters z B GET POSE_FILTER 10 Response type Filter length number of actual position values which are used as filters Functional description Querying the activation of compensation Send GET ENABLE_COMPENSATION Description of transmission parameters Transmission type Receive GET ENABLE_COMPENSATION TRUE Description of response parameters Compensation statu...

Page 56: ...mission parameters Transmission type Receive GET ERROR_LAST 1 7 8 0 0 000 0 000 0 000 0 000 0 000 0 000 0 4 4 0 0 0 0 0 297604777 Description of response parameters Error type error module error number active error status x position y position z position Rx position Ry position Rz position motor speed actual motor status target motor status proximity sensor value digin motor locking digout status ...

Page 57: ...ransmission type Receive GET ERROR_ HISTORY 1 7 8 0 0 000 0 000 0 000 0 000 0 000 0 000 0 4 4 0 0 0 0 0 Description of response parameters 297604777 Response type The same as GET ERROR_LAST 6 4 4 LED modes Functional description Reading LED modes Send GET LED_MODE Description of transmission parameters Transmission type Receive GET LED_MODE STATUS Description of response parameters LED mode Respon...

Page 58: ...rameters Transmission type Receive GET QUALITY_THRES 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 Description of response parameters min_x min_y min_z min_Rx min_Ry min_Rz max_x max_y max_z max_Rx max_Ry max_Rz Status Response type FLOAT mm FLOAT mm FLOAT mm FLOAT FLOAT FLOAT FLOAT mm FLOAT mm FLOAT mm FLOAT FLOAT FLOAT ENUM OK ERROR ...

Page 59: ...ion parameters Transmission type Receive GET VERSION 1 17 4 Description of response parameters Firmware version Response type STRING Functional description Querying the baud rate Send GET BAUD Description of transmission parameters Transmission type Receive GET BAUD 38400 Description of response parameters Baud rate Response type UNIT32 ...

Page 60: ...ion type Receive GET SNO 20100000000 Description of response parameters Serial number Response type STRING Functional description Querying the operating time Send GET SYS_UP_TIME Description of transmission parameters Transmission type Receive GET SYS_UP_TIME 11052230 Description of response parameters Operating time Response type UINT64 ms ...

Page 61: ...ve GET SYS_TEMP 21 5 Description of response parameters System temperature Response type FLOAT C Functional description States the number of lock unlock procedures Send GET SYS_LOCK_COUNT Description of transmission parameters Transmission type Receive GET SYS_LOCK_COUNT 1000 Description of response parameters Number of lock unlock procedures Response type UNIT32 ...

Page 62: ...tions SET MOT_LOCK_STATE_A LOCK and SET MOT_LOCK_STATE LOCK are without function Send Locking unlocking can then be started using pin 6 Example application case locking the SFE before the robot will move Description of transmission parameters SET LOCK_MODE SERIAL Transmission type Lock mode Receive ENUM SERIAL DIGIN Description of response value Status Response type ENUM OK ERROR Persistence Persi...

Page 63: ...tion of transmission parameters Lock state Transmission type ENUM LOCK UNLOCK Receive SET MOT_LOCK_STATE_A OK Description of response value Status Response type ENUM OK WRONG_MODE RUNNING ERROR Persistence Not persistent Functional description Triggering the locking unlocking procedure synchronously via the serial interface Synchronous means that new commands can be processed when the locking unlo...

Page 64: ...cking procedure Transmission type UINT32 ms Value range Min 200 max 2000 default 500 Receive SET MOT_LOCK_TIMEOUT OK Description of response value Status Response type ENUM OK ERROR Persistence Persistent 6 5 2 Sensors Functional description Switching on off compensation Send SET ENABLE_COMPENSATION TRUE Description of transmission parameters Compensation status Transmission type ENUM TRUE FALSE R...

Page 65: ...sponse type Status Persistence ENUM OK ERROR 6 5 3 LED modes Functional description Setting the LED mode There is a description of the various modes in a separate section For the modes QUALITY and QUALITY_PEAK to work correctly it is necessary to set the necessary threshold values with the command SET LED_QUALITY_THRES Send SET LED_MODE STATUS Description of transmission parameters LED mode Transm...

Page 66: ...ype FLOAT mm FLOAT mm FLOAT mm FLOAT FLOAT FLOAT FLOAT mm FLOAT mm FLOAT mm FLOAT FLOAT FLOAT Value range min_x min 3 0 max 3 0 min_y min 3 0 max 3 0 min_z min 3 0 max 0 2 min_rx min 3 4 max 3 4 min_ry min 3 4 max 3 4 min_rz min 6 8 max 6 8 max_x min 3 0 max 3 0 max_y min 3 0 max 3 0 max_z min 3 0 max 0 2 max_rx min 3 4 max 3 4 max_ry min 3 4 max 3 4 max_rz min 6 8 max 6 8 Framework condition The ...

Page 67: ...I 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 13 8 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 1 38 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 22 6 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226 138 43 226...

Page 68: ... Send SET BAUD 115200 Description of transmission parameters Baud rate Transmission type UINT32 Bd Valid range Option1 9600 Option2 38400 Option3 115200 Option4 921600 Default 38400 Receive SET BAUD OK Description of response value Status Response type ENUM OK ERROR Persistence Persistent ...

Page 69: ...ceive CTR ZERO OK Description of response value Status Response type ENUM OK ERROR Persistence Comment This function is only available if the temperature compensation has been deactivated with SET ENABLE_COMPENSATION FALSE and if the SFE unit is in the locked state Functional description Restarting the SFE unit Send CTR REBOOT Description of transmission parameters Transmission type Receive CTR RE...

Page 70: ...ng the current version of the embedded software Sent Received GET VERSION GET VERSION 1 9 2 The version can only be updated via the desktop software You can find a more detailed description of the desktop software in the Initialization section Changing and checking the lock state Sent Received SET MOT_LOCK_STATE LOCK SET MOT_LOCK_STATE OK GET MOT_LOCK_STATE GET MOT_LOCK_STATE LOCKED Here the first...

Page 71: ...mation chains to compare deflected and fixed locked SFEs The first chain contains the transformations with the locked SFE The second is fed with the SFE values which you obtain using GET POSE The values are written in the SFE unlocked transformation See figure 13 Transformation chain for unlocked SFE The SFE is made up of three parts in the transformation chain Base the top part with a length of 8...

Page 72: ...the supplied flanges Adapter plate Transformation Z R124500039 13 50 mm R124500041 16 00 mm R124500055 16 00 mm 21 Transformation Depending on how the robot flange coordinate system is the transformation to the SFE base must be expanded more for example by a rotation on Z This depends on the robot In the following example flange R124500039 is installed Transformation chain for locked SFE Transform...

Page 73: ...o be included in the transformation chain depending on the application In the following figures you can see how an SFE deflection occurs Here you can see a rotation on the X axis The SFE must be unlocked for this SFE deflection The robot moves against the block Once the gripper touches the block the SFE yields You can obtain the current deflection again via GET POSE ...

Page 74: ...ommand e g if the command has been entered incorrectly or cannot be executed correctly The response value then contains an indication of an error e g GET MOT_LOCK_STATE ERROR The following table lists general errors which may occur in principle when executing each command Error class Description ERROR UNKNOWN_CMD Command class or command does not exist ERROR WRONG_MODE No permission for the comman...

Page 75: ...em In order to determine possible sources of error and measures to rectify them the error module and error number error code must be read This can be done via the error log in the SFE tool or alternatively via the command GET ERROR_LAST last error or GET ERROR_HISTORY reading of the entire error memory Screen Action steps Read error module and error code with the SFE tool Navigate to the Service 1...

Page 76: ...5 Internal electronics F4_Bootloade r 0 26 27 RS485 F4_Bootloade r 0 28 Internal electronics F4_Bootloade r 0 29 30 RS485 F4_Bootloade r 0 31 32 Internal electronics F1_Bootloade r 1 0 1 Internal electronics F1_Bootloade r 1 2 RS485 F1_Bootloade r 1 5 8 Internal electronics F1_Bootloade r 1 9 RS485 F1_Bootloade r 1 10 RS485 internal electronics F1_Bootloade r 1 11 RS485 F1_Bootloade r 1 12 RS485 i...

Page 77: ...SET MOT_LOCK_TI MEOUT lock process can take longer if the load is greater If this does not work proceed with rectification measures under error source Motor F1_Motor 6 4 5 Internal electronics F4_Settings 7 0 1 Internal electronics F4_Parameter _Storage 8 0 41 Internal electronics F4_RS485 9 0 6 RS485 F4_position sensors 10 0 22 Internal electronics F4_temperature sensor 11 0 1 Internal electronic...

Page 78: ...otor Error when performing a locking unlocking procedure target state was not reached First increase timeout with SET MOT_LOCK_TI MEOUT lock process can take longer if the load is greater If this does not work proceed with rectification measures under error source Motor F4_Led_ Handler 14 0 Internal electronics F4_DIGIO_ Handler 15 0 Motor internal electronics Dig IO status could not be updated co...

Page 79: ...electromagnetic interference RS485 Communication with the RS485 interface not possible defective Unidirectional communication protocol request response is not adhered to connection line too long defective connection line electromagnetic interference RS485 transceiver or interface defective cold solder joint loose contact Motor Error when installing moving with the motor Motor overload overcurrent ...

Page 80: ...mand for locking the SFE SET MOT_LOCK_STATE LOCK is sent The response SET MOT_LOCK_STATE OK is returned The robot may move to the preliminary position at high travel speed 2 When the preliminary position is reached the SFE is unlocked via SET MOT_LOCK_STATE UNLOCK If the command SET MOT_LOCK_STATE OK is sent the robot can move to the pickup position at reduced travel speed 3 Once the product has b...

Page 81: ...th 200 mm width depth 103 mm suspended centrally over a standard flange ISO 9409 1 31 5 4 M5 no oscillating movement takes place 7 3 1 Exact alignment of the robot above a component If the robot moves over a component in a pickup drop or joining position and is not set correctly above the position due to various tolerances this is expressed by a deflection of the SFE If the offset which can be rea...

Page 82: ...ee states are shown three times in the light bar shifted by 120 each time A status light is formed of two LEDs The following three states can be identified on the SFE Selected lock mode o SERIAL green o DIGIN yellow Sensor status o Sensor calibration not set blue o Sensors in the range 0 66 of the maximum deflection green o Sensors in the range 67 83 of the maximum deflection yellow o Sensors in t...

Page 83: ...The following LED figure visualizes the information that DIGIN was selected as the lock mode the degree of modulation of the proximity sensors is between 0 66 and that an error has occurred during the locking unlocking procedure Example 2 for a possible LED pattern ...

Page 84: ... three modes as in status mode lock status sensors status lock mode Digital Input Locking DigIn Lock o Locking high blue o Unlocking low white The following states are shown in the figure below Digital output error There is no error Digital Output Lock state SFE is locked Lock status Digital communication is selected Sensor status The modulation of a proximity sensor is in the red range Lock mode ...

Page 85: ...0 05 0 5 0 green LEDs o In the range LIMIT_X_MIN 0 66 LIMIT_X_MAX 0 66 5 66 1 green LEDs o In the range LIMIT_X_MIN 0 83 LIMIT_X_MAX 0 83 67 83 2 green LEDs o In the range LIMIT_X_MIN LIMIT_X_MAX 84 100 3 green LEDs y axis representation as a graph red o In the range LIMIT_Y_MIN 0 05 LIMIT_Y_MAX 0 05 0 5 0 red LEDs o In the range LIMIT_Y_MIN 0 66 LIMIT_Y_MAX 0 66 5 66 1 red LEDs o In the range LIM...

Page 86: ...ns 7 en Example 4 for a possible LED pattern Axis Current deflection in the range between X 2 00 to 2 49 mm Y 0 15 to 2 00 mm Z 2 49 to 3 00 mm 28 Deflection of flange plate example 5 Example 5 for a possible LED pattern ...

Page 87: ...eflection of the SFE is within a defined range or has left this The range can be configured for the relevant application using the command SET LED_QUALITY_THRES min_x min_y min_z min_rx min_ry min_rz max_x max_y max_z max_rx max_ry max_rz see Functional description Deflection is within the defined range green Deflection is outside of the defined range red o LED ring remains in this state o Can be ...

Page 88: ...the distribution THIS SOFTWARE IS PROVIDED BY THE FREEBSD PROJECT AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE FREEBSD PROJECT OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED...

Page 89: ...t holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVEN...

Page 90: ...er Copyright c 2018 Ferenc Németh https github com ferenc nemeth Example code in the customer documentation for calculating the checksum Modbus CRC16 Copyright c 1999 2016 Lammert Bies https github com lammertb libcrc 32 MIT License Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software wit...

Page 91: ...ng the testcases 42 Using the testcases type type 43 Cable 47 System connection figure 48 Displacement 71 Transformation chain for locked SFE 72 Transformation chain for unlocked SFE 72 SFE deflection 73 Example 1 for a possible LED pattern 83 Example 2 for a possible LED pattern 83 Example 3 for a possible LED pattern 84 Example 4 for a possible LED pattern 86 Example 5 for a possible LED pattern...

Page 92: ...ebsite 45 16 Viewing open source license texts 46 17 Cable pin assignment 47 18 Key data for digital inputs 48 19 Examples of calculated checksums 51 20 Examples of calculated checksums for serial interfaces 51 21 Transformation 72 22 Reading the error module and error code 75 23 Error description and error sources 78 24 Rectification measures 79 25 Operating data for example applications 81 26 St...

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