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Contents
1.0 General information ......................................................4
1.1 Information in this manual ...............................................4
1.2 Explanation of symbols and signal words ......................4
1.3 LIFTKIT designations ......................................................5
1.4 Related documents .........................................................5
1.5 Target audience ...............................................................5
2.0 Safety .............................................................................6
2.1 Intended use ....................................................................6
2.2 Functional safety .............................................................6
2.3 Safety mechanisms .........................................................6
2.4 Application notes ............................................................6
2.5 Potential risks ..................................................................7
2.6 Stopping behavior ...........................................................7
3.0 LIFTKIT components ....................................................8
3.1 Scope of delivery .............................................................8
3.2 System requirements ......................................................8
4.0 Mechanical installation ................................................9
4.1 Tools required ..................................................................9
4.2 Robot installation on the telescopic pillar ......................9
5.0 Electrical connection .................................................10
5.1 Electrical connection .....................................................10
6.0 Initialization of LIFTKIT before connection to robot
controller ............................................................................ 11
WARNING
Please read this manual before installing, operating or
maintaining this telescopic pillar. Failure to follow safety
precautions and instructions could cause telescopic pillar failure
and result in serious injury, death or property damage. Keep this
manual nearby for future reference.
7.0 Software Installation ..................................................12
8.0 Software operation .....................................................13
8.1 LIFTKIT installation ........................................................13
8.1.1 Safety I/O setup on UR controller ...........................13
8.1.2 Communication .......................................................13
8.1.3 LIFTKIT setup ..........................................................13
8.1.4 Position setup..........................................................13
8.2 Accessing LIFTKIT positions ........................................ 14
8.2.1 Insert a URCaps command .................................... 14
8.2.2 Access a LIFTKIT position ..................................... 14
8.2.3 Access positions in script ...................................... 14
9.0 Troubleshooting ..........................................................15
10.0 Specifications............................................................16