ROBOTIQ UNI-CTR-001 Series Instruction Manual Download Page 21 | Manualshive

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Robotiq Universal Controller

Instruction Manual

Robotiq inc. © 2008 - 2014

21

Info

EtherCAT protocol uses inherent dynamic addressing, thus bus settings cannot be customized.

Info

Ethernet/IP uses 4 bytes of header which may be visible or not depending on the master.

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Summary of Contents for UNI-CTR-001 Series

Page 1: ...1 ROBOTIQ INC 2014 Get the latest version of the manual at support robotiq com...

Page 2: ...t communication protocol 22 CANopen communication protocol 24 PROFIBUS communication protocol 26 4 Control 27 4 1 Overview 27 4 2 Status LEDs 28 4 2 1 Supply LED 29 4 2 2 Communication LED 29 4 2 3 Fa...

Page 3: ...product it describes are protected by the Copyright Act of Canada by laws of other countries and by international treaties and therefore may not be reproduced in whole or in part whether for sale or...

Page 4: ...e following manual uses the metric system unless specified all dimensions are in millimeters Note The following section presents the key features of the Controller and must not be considered as relate...

Page 5: ...r with an emergency stop feature and the Robotiq Device Connector for connection to the various Robotiq Grippers Info See for details on the Supply Panel and section 3 5 1 Power connection section 3 5...

Page 6: ...on the Universal Controller and associated Gripper device Installation Control Maintenance Inspection Calibration Programming Decommissioning This documentation explains the various components of the...

Page 7: ...er must be installed in a secured and clean environment Make sure all cord sets are always secured at the Gripper the Controller and at the robot Respect power supplies according to the associated Rob...

Page 8: ...obot control The product is intended to be installed in parallel to a robot or other automated machinery or equipment Note Always comply with local and or national laws regulations and directives on a...

Page 9: ...r UNI CTR 001 XXXX Replace by one of the following communication options XXXX ENIP Ethernet IP MTCP Modbus TCP ECAT EtherCAT DNET DeviceNet CANO CANopen PNET PROFINET Controller Supply Connector with...

Page 10: ...s SPECIFICATION VALUE Minimum storage transit temperature 22 F 30 C Maximum storage transit temperature 158 F 70 C Minimum operating temperature 32 F 0 C Maximum operating temperature 158 F 70 C Humid...

Page 11: ...obotiq Universal Controller is meant to be mounted on 3 DIN rails standard on all Controllers Here are the steps to follow for the installation of the Controller see Figure 3 3 1 Secure the DIN rail C...

Page 12: ...regulation 10 maximum 10 maximum Overcurrent 4 A fuse at 77 F 25 C o 2 10 A thermomagnetic circuit breaker at 73 F 23oC 3 Maximum fuse I t factor 2 100 A s at 77 F 25 C 2 o N A Overvoltage protection...

Page 13: ...n fieldbus port see for details The Robotiq devices are connected to the Controller section 3 5 2 Communication connection via a single Gripper signal cable which connects onto the Robotiq device port...

Page 14: ...Info Device Gripper signal cable is supplied by Robotiq see your Robotiq Gripper Spare Parts Kits and Accessories section Warning Use proper cabling management Be sure to have enough forgiveness in th...

Page 15: ...an emergency stop is not used a jumper must be placed on pins 4 5 of the Supply Connector to allow usage of the device Caution The fuse is external to the Controller and Robotiq device It is not provi...

Page 16: ...AWG TEW 300 V or 600 V The emergency stop cable should have the following specifications Minimum 22 AWG TEW recommended current is 500 mA 300 V or 600V Using a normally closed emergency stop button I...

Page 17: ...n Note Only one protocol option is available for a given Controller unit Family Protocol Real Time Ethernet Ethernet IP Modbus TCP IP EtherCAT ProfiNET Fieldbus DeviceNET CANopen ProfiBUS USB Modbus R...

Page 18: ...er It is the users responsibility to setup the appropriate cable between the Controller unit and the master controller Robotiq can provide you with appropriate cables available on demand from its Spar...

Page 19: ...ocol IDENTIFICATION SETTINGS EtherCAT Ethernet IP ProfiNET Modbus TCP IP Vendor ID 0x0000FFFF Vendor ID 0x0000011B Vendor ID 0x0000011E N A Product Code 0x0000000B Product Code 0x0000010D Device ID 0x...

Page 20: ...Disabled BootP Disabled DHCP Disabled DHCP Disabled 100Mbit Enabled 100Mbit always on Full Duplex Enabled Full Duplex always on Auto neg Enabled Auto neg always on Assembly Instance input 101 Assembl...

Page 21: ...nstruction Manual Robotiq inc 2008 2014 21 Info EtherCAT protocol uses inherent dynamic addressing thus bus settings cannot be customized Info Ethernet IP uses 4 bytes of header which may be visible o...

Page 22: ...Caution There is no terminating resistor mounted in the Gripper The shield of the cable must be grounded in the robot controller Fusing must be respected Tip DeviceNet standard requires a 120 Ohms res...

Page 23: ...tion Settings Info Decimal Value base 10 Hexadecimal Value base 16 Vendor ID 283 0x0000011B Product Code 35 0x00000023 Serial Number 0 0x00000000 Product Type 12 0x0000000C Major Revision 1 Minor Revi...

Page 24: ...hield of the cable must be grounded in the robot controller Fusing must be respected Tip CANopen standard requires a 120 Ohms resistor to be mounted at the beginning and at the end of the line If Grip...

Page 25: ...6 Vendor ID 68 0x00000044 Product Code 1541540 0x001785A4 Revision Number 131072 0x00020000 Serial Number 0 0x00000000 BUS SETTINGS MAC ID 11 Baud Rate 1 MBaud DATA SETTINGS Index Size Send Object 0x2...

Page 26: ...roller Factory settings for PROFIBUS protocol IDENTIFICATION SETTINGS Model Name NIC 50 DPS Identification Number 0x0C10 Station Address 1 2 1 Station address the address of the device can be set anyw...

Page 27: ...ing from right to left 4 1 Overview The Robotiq Universal Controller is accessed from the robot controller using an industrial protocol Ethernet IP DeviceNet CANopen EtherCAT etc and used to operate a...

Page 28: ...r LED lights provide general information about the Controller and associated device status on the Controller Communication Panel Figure 4 4 1 shows the LEDs and their locations Figure 4 4 1 Controller...

Page 29: ...ied Blue On Correctly supplied and the control board is running for the control board LED 4 2 2 Communication LED The following applies to the communication LED on the Controller Color State Informati...

Page 30: ...e Robotiq User Interface menu option Input Registers registers status For the Controller fault LED Color State Code Information Off 0x00 No fault detected Warning 0x04 24V not detected reconfiguration...

Page 31: ...from LSB Less Significant Bit to MSB Most Significant Bit Register mapping Caution Byte and not at 1 for the functionalities and status registers numeration starts at zero Only Byte 2 of Robot Input...

Page 32: ...nt Bit Register FAULT STATUS Address Byte 2 Bit Name Description 0 3 gFLT See Robotiq device instruction manual 4 7 kFLT 0x00 No Fault Warning 24V not detected 0x04 reconfiguration through USB is poss...

Page 33: ...obotiq inc 2008 2014 33 5 User Interface Visit http support robotiq com to get the latest installer for the Robotiq User Interface along with appropriate documentation See the for details on usage of...

Page 34: ...1 1 presents the main technical dimensions of the Robotiq Universal Controller axis system shown in red represents the coordinate system used to calculate the center of mass and intertia values availa...

Page 35: ...and center of mass The coordinate system used for calculating the moment of inertia and center of mass for the Controller is shown in Figure 6 3 1 The center of mass and moment of inertia are calculat...

Page 36: ...e Robotiq Universal Controller SPECIFICATION VALUE Operating Supply Voltage 24 V Absolute Maximum Supply Voltage 28 V Quiescent Power minimum power consumption 3 6 W Peak Power See your Robotiq device...

Page 37: ...intenance No maintenance is required on the Universal Controller Note Controller must be kept away from dirty dust scraps chemicals etc Always respect the operating conditions Tip It is a good practic...

Page 38: ...al Controller for Robotiq devices includes Supply Connector with emergency stop jumper Replace XXXX by one of the following communication protocol option ENIP Ethernet IP MTCP Modbus TCP IP ECAT Ether...

Page 39: ...LED It s OFF No fault go to step 5 It s BLINKING Major fault occurred reset activate the Controller see for details on fault section 4 5 It s ON Communication is not ready wait until it s off if blin...

Page 40: ...Check device address using the Robotiq User Interface via USB Communication protocol panel will show current address default IP address for Robotiq devices are IP 192 168 1 11 with Gateway 255 255 255...

Page 41: ...ecessary for the robot program is not accessible Caution The warranty will become null and void if the Unit has been tampered with repaired or worked on by unauthorized individuals Warranty sticker ha...

Page 42: ...Contact www robotiq com Go to Contact Us Phone 1 888 ROBOTIQ 762 6847 1 418 800 0045 outside US and Canada Fax 1 418 800 0046 Technical support and Engineering extension 207 Sales US extension 122 He...

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