Magswitch CoBot SmartMagGrip E30 URCap Скачать руководство пользователя

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MAGSWITCH

CoBot SmartMagGrip E30 URCap Manual

+ 1(303) 468.0662

magswitch.com

1101607 r02

For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request

Page 1

Table of Contents

S. No.

Topic

Page Number

Magswitch Gripper URCap

Installation

Powering Magswitch Gripper from

the CoBot

Configuring TCP/Payload

Magswitch Gripper URCap

Installation Interface

Magswitch Gripper Calibration

Tool Orientation

Calibration Methods

Calibration Steps in Detail

Testing Calibration

–

Configuration 1

–

Multi-Step Learn

Testing Calibration

–

Configuration 2

–

Multi-Step Learn

Testing Calibration

–

Configuration 3

–

Simple Learn/Multi-Step Learn

Using Magswitch Gripper and

Magswitch Power Program Nodes

CoBot SmartMagGrip E30 URCap Manual

Содержание CoBot SmartMagGrip E30 URCap

Страница 1: ...Gripper from the CoBot 3 3 Configuring TCP Payload 4 4 Magswitch Gripper URCap Installation Interface 7 5 Magswitch Gripper Calibration 11 6 Tool Orientation 12 7 Calibration Methods 13 8 Calibration...

Страница 2: ...ab Fig 1 URCap Settings Menu Select the icon and load Magswitch Gripper URCap from the flash drive plugged into the cobot Once the URCap is loaded restart the system and verify that the Magswitch URca...

Страница 3: ...witch Gripper from the Cobot To enable power and configure gripper using RS485 Modbus protocol go to the installation tab select Tool I O and select MagswitchGripper from the Controlled by drop down m...

Страница 4: ...oint TCP Payload Select Installation then under the General tab select Payload Set Payload to configure the tool Payload shown below in Figure 5 Under the drop down menu select the configuration that...

Страница 5: ...uld be under the Installation tab Select general and then TCP to configure the TCP shown below in Figure 7 Under the drop down menu select the configuration that pertains to desired tool configuration...

Страница 6: ...witch gripper accessories Fig 10 Configuration types for tool Configuration Type A is when the eight pinned connector on the wrist is aligned to the cable exit port on the CoBot SmartGrip E30 using th...

Страница 7: ...h Gripper When the gripper is powered off or there is an issue with the connection all the buttons will be grayed out as shown in the image below Note that URcap 1 1 6 is only compatible on Polyscope...

Страница 8: ...e rehomed if power to the tool is lost Fig 13 Magswitch Gripper Installation URCap after gripper is homed The below table shows functionality of various buttons and signals on the Magswitch Gripper In...

Страница 9: ...ep learn Button Input Cancel Learn Sends command to cancel calibration Button Input Learned Part Sends command to change calibration storage option Calibration 0 3 Drop Down Box Input Sensitivity Send...

Страница 10: ...rn Complete Indicates if gripper is calibrated Indication LED Output Learn Step Indicates calibration step 0 not in calibration 1 waiting for best circuit 2 waiting for worst circuit 3 waiting for sou...

Страница 11: ...ration storage option 0 3 North Pole indication LED will turn on only when the North Pole Position is in equal to or better contact than the stored North Pole Position South Pole indication LED will t...

Страница 12: ...ntact our Application Engineers at 1 303 486 0662 or magswitch com information request Page 12 Tool Orientation Fig 15 Tool Orientation for Magswitch CoBot SmartMagGrip E30 NOTE Magnet Housing at the...

Страница 13: ...ON fully on North Pole Position and issue Multi Step Learn command The learning step will be sent to 0 and Learn Complete LED will turn on 6 The Multi step learn process is now complete Use Multi Ste...

Страница 14: ...Simple Learn Step 1 Select calibration storage option from the Learned Part drop down menu Fig 16 Selecting Calibration storage option Step 2 Ensure that Gripper is present on the target and turn mag...

Страница 15: ...ion contact our Application Engineers at 1 303 486 0662 or magswitch com information request Page 15 Fig 17 Simple Learn Complete Steps for Calibrating Gripper using Multi Step Learn Step 1 Select cal...

Страница 16: ...nt on the target in limiting position 1 and turn magnet full on Some recommended positions are provided below i The maximum steel in vicinity for complex or bin picking shapes ii The best contact iii...

Страница 17: ...ED will flash three times and Learning Step will display 1 This indicates Multi Step Learn is initiated and is waiting for Limiting Position 1 Fig 20 Multi Step Learn initiated Step 4 Press Multi Step...

Страница 18: ...cinity for complex or bin picking shapes ii The worst contact iii The maximum allowable air gap coatings iv The minimum for one pole but the maximum for the other NOTE The unit is centered on the part...

Страница 19: ...D will flash three times and Learning Step will display 3 This indicates that the gripper has stored Limiting Position 2 and is now waiting for the South Pole Position In case of an error the Learn Er...

Страница 20: ...will flash three times and Learning Step will display 4 This indicates that the gripper has stored the South Pole Position and is waiting for the North Pole Position In case of an error the Learn Erro...

Страница 21: ...on request Page 21 Step 10 Press Multi Step Learn Button the gripper blue LED will flash three times Learning Step will display 0 and Learn Complete LED will turn on when the process if finished This...

Страница 22: ...sent 0ff 3 Unit positioned within Calibrated Part Present signal range and the magnet is electrically actuated on 100 by setting Requested Position 100 Magnet 100 ON or issuing Turn Magswitch Full On...

Страница 23: ...net 100 ON or issuing Turn Magswitch Full On command a Magswitch Full On indication LED turns On b Check below table for the expected LED Indication values at this step Indication LED Value S Pole On...

Страница 24: ...lue between 2 and 99 Magnet 2 99 ON a Magswitch Partial On indication LED Turns On b Check below table for the expected LED Indication values at this step Indication LED Value S Pole On Off N Pole On...

Страница 25: ...itch Full On indication LED Turns On b Check below table for the expected LED Indication values at this step LED Indication Value Input Word 2 Bit 9 S Pole On On Input Word 2 Bit 8 N Pole On Off Part...

Страница 26: ...low table for the expected LED Indication values at this step LED Indication Value S Pole On Off N Pole On Off Part Present Off 3 Unit positioned within Calibrated Part Present signal range and the ma...

Страница 27: ...r and Magswitch Power URCap should be visible Fig 28 Both URCaps should be visible under program tab Magswitch Power Selecting this URCap turns the gripper on or off in the program as shown below It i...

Страница 28: ...arized in the table below Fig 30 Magswitch Gripper Program Node URCap Magswitch Gripper URCap Program Node Command Description Home Magswitch Sends Command to Home Magswitch Gripper It is recommended...

Страница 29: ...riables that can be read using the read gripper state command is shown in the table below Variable Description ACTUAL_POS Indicates actual position of the magnet value can be from 0 to 100 FULL_OFF Tr...

Страница 30: ...p E30 URCap Manual 1 303 468 0662 magswitch com 1101607 r02 For more information contact our Application Engineers at 1 303 486 0662 or magswitch com information request Page 30 Fig 31 Example program...

Страница 31: ...Magswitch Gripper Read The state of one or more variables can be checked by placing the Read Gripper State command inside a loop The below program example shows how to continuously check the state of...

Страница 32: ...8 0662 magswitch com 1101607 r02 For more information contact our Application Engineers at 1 303 486 0662 or magswitch com information request Page 32 Fig 34 Loop until magnet is magnet is fully on Fi...

Страница 33: ...Engineers at 1 303 486 0662 or magswitch com information request Page 33 Example Demonstrating Partial Magnet On The following program example turns on the magnet at 50 position and checks if the ACT...

Страница 34: ...st Page 34 Example Demonstrating Part Present The below program example demonstrates reading the part present signal inside a loop While issuing the Magswitch Gripper read command ensure that the appr...

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