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3.2.3.2 Work object tune

Function and scope

A work object is a coordinate system used to describe the position of a work piece.
The work object consists of two frames: a user frame and an object frame. All
programmed positions will be related to the object frame. The object frame is
related to the user frame and the user frame is related to the world coordinate
system.

Note: The work object configuration includes three elements: TASK, Storage type
and Scope.

Their scopes are:

Task: T_ROB1

Storage type: Persistent and variable

Scope: Task, Global

If the scope and storage type of the work object is not correct it can not be
monitored.

Touch the Work object tune tab to enter the work object tune interface.

Work object tune operation

Procedure

Action

Choose work object from the drop down list on the left. The work object
(x, y, z) in mm shows up on the right.

Choose work
target

Touch the minus button to decrease the value and the plus button to in-
crease the value. The tuning unit can be 0.1mm, 0.5mm, 1mm or 5 mm.
After editing, touch Apply, the modification is saved.

Tune the work
object

102

Product Manual - FlexGripper-Claw

4GAA40401009901-001 Revision: A

© Copyright 20132019 ABB. All rights reserved.

3 FlexGripper UI

3.2.3.2 Work object tune

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Содержание FlexGripper

Страница 1: ...ROBOTICS Product Manual FlexGripper Claw ...

Страница 2: ...Trace back information Workspace Robots and Applications version a56 not checked in Published 2019 11 15 at 05 15 13 Skribenta version 5 3 033 ...

Страница 3: ...Product Manual FlexGripper Claw Document ID 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved ...

Страница 4: ...specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Additional copies of this manual may be obtained from ABB The original language for this publication is English Any other languages that are ...

Страница 5: ... 2 1 General 32 2 2 2 Claw unit 33 2 2 3 Push plate unit 35 2 3 Installation and Commissioning 35 2 3 1 Overview 36 2 3 2 Unpacking 38 2 3 3 Adjustment 39 2 3 4 Mounting the new gripper 42 2 3 5 Commissioning 48 2 4 Maintenance 48 2 4 1 General 49 2 4 2 Regular Inspection of new gripper 50 2 4 3 Regular replacement 51 2 4 4 Regular adjustment 53 2 5 Repair 53 2 5 1 Instruction 54 2 5 2 Pneumatic c...

Страница 6: ...nal configuration 89 3 1 3 Back up and Reset System 91 3 2 Operation 91 3 2 1 FlexGripper UI main interface 92 3 2 2 Tool handle 92 3 2 2 1 FlexGripper Claw function test 95 3 2 2 2 TCP edit 100 3 2 3 Tune 100 3 2 3 1 Position Tune 102 3 2 3 2 Work object tune 103 3 2 3 3 Test run 104 3 2 4 Production 104 3 2 4 1 Production monitor 105 3 2 4 2 Setup 108 3 3 Trouble shooting 113 Index 6 Product Man...

Страница 7: ...ed during installation operation maintenance work repair work Who should read this manual This manual is intended for operators installation personnel repair and maintenance personnel Prerequisites The reader should be familiar with industrial robots and the relevant terminology familiar with the equipment skilled in mechanical electrical installation maintenance repairs Organization of chapters T...

Страница 8: ...313 001 Product manual IRC5 Revision Description Revi sion First edition Restart information is updated to the latest restart mode such as replacing I start with Reset System A 8 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved Overview of this manual Continued ...

Страница 9: ...er detailed directly in the procedure or further detailed in separate instructions found in Safety related instructions on page 21 Note This manual includes only the safety information related to this product The FlexGripper can be used together with IRB 660 or IRB 460 See the robot and IRC5 controller manuals for more details on safety Before beginning work with the robot make sure you are famili...

Страница 10: ...be designed and constructed in such a way as to allow safe access to all areas where intervention is necessary during operation adjustment and maintenance Where it is necessary to perform tasks within the safeguarded space there shall be safe and adequate access to the task locations Users shall not be exposed to hazards including slipping tripping and falling hazards Connection of external safety...

Страница 11: ...t Restricting the working space Load diagrams Product specification for the robot Load limits for tools and workpieces Application manual Functional safety and SafeMove2 Configuration of safety mod ule requires Functional safety options Product Manual FlexGripper Claw 11 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 1 Safety in the robot Continued ...

Страница 12: ...stopped quickly Those in charge of operations must make sure that safety instructions are available for the installation in question Those who install the FlexGripper must have the appropriate training for the manipulator system in question and in any safety matters associated with it Nation region specific regulations To prevent injuries and damage during the installation of the manipulator syste...

Страница 13: ...cutters stop rotating It should be possible to release parts manually valves Safe design FlexGrippers are designed so that they retain workpieces in the event of a power failure or a disturbance to the controller Product Manual FlexGripper Claw 13 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 2 2 Safety risks related to tools workpieces ...

Страница 14: ...be taken with the FlexGripper Claw Risk of gripped workpiece uncontrolled gravity drop during high speed movement 14 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 2 3 Safety risks related to high speed ...

Страница 15: ...ce must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts Extraordinary risks If the working process is interrupted extra care must be taken due to risks other than those associated with regular operation Such an interruption may have to be rectified manually Product Manual FlexGripper Claw 15 4...

Страница 16: ...llowed All work must be performed by qualified personnel on machine manipulator system in deadlock in an isolated state disconnected from power supply and protected against reconnection Voltage related risks IRC5 controller A danger of high voltage is associated with for example the following parts Be aware of stored electrical energy DC link Ultracapacitor bank unit in the controller Units such a...

Страница 17: ... VAC Voltage related risks tools material handling devices etc Tools material handling devices etc may be live even if the robot system is in the OFF position Power supply cables which are in motion during the working process may be damaged Product Manual FlexGripper Claw 17 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 2 5 Risks associated with live electr...

Страница 18: ...r installation and operation Dimensioning Dimension the fence or enclosure to enable it to withstand the force created if the load being handled by the FlexGripper is dropped or released at maximum speed 18 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 3 1 Safety fence dimensions ...

Страница 19: ...e a CARBON DIOXIDE CO2 extinguisher in the event of a fire in the manipulator or controller Product Manual FlexGripper Claw 19 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 2 3 2 Fire extinguishing ...

Страница 20: ...nt the following must be implemented The enabling device must never be rendered inoperational in any way During programming and testing the enabling device must be released as soon as there is no need for the robot to move Anyone entering the working space of the robot must always hold the teach pendant This is to prevent anyone else from taking control of the robot without his her knowledge Hold ...

Страница 21: ...tructions are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING Warns for electrical hazards which could result in severe personal injury or death ELE...

Страница 22: ...itions NOTE Describes where to find additional information or how to do an operation in an easier way TIP 22 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 1 Safety 1 3 1 Safety signals in the manual Continued ...

Страница 23: ...tor and the FlexGripper are marked with several safety and information labels containing important information about the product The information is useful for all personnel handling the FlexGripper system for example during installation service or operation The safety labels are language independent they only use graphics Symbols on safety labels Description Symbol Heat Risk of heat that can cause...

Страница 24: ...elease parts by manual operation valves Do not touch the FlexGripper while it is connected to air pressure While assembling adjusting and working on the FlexGripper it is mandatory to implement safety regulations so that no fingers or other body parts are in proximity to the moving parts of the FlexGripper There is risk and danger of injury Do not use temporary arrangements to make the FlexGripper...

Страница 25: ...ructure Storage conditions 0 C 32 F 55 C 131 F Ambient temperature Maximum 90 Relative humidity Not permitted Explosive environments Operating conditions 5 C 41 F 50 C 122 F Ambient temperature Maximum 90 Relative humidity Not permitted Explosive environments FlexGripper Claw weight Weight FlexGripper variants 80 kg with side guide 66 kg without side guide FlexGripper Claw Continues on next page P...

Страница 26: ...ent status of the gripper have different sizes Size with claws in minimum working position and push plates in maximum working position Size with claws in minimum working position and push plates in minimum working position Continues on next page 26 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 1 Specification Continue...

Страница 27: ...ng position Size with claws in maximum working position and push plates in minimum working position Continues on next page Product Manual FlexGripper Claw 27 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 1 Specification Continued ...

Страница 28: ...ift Bag width range Bag length range Bag height range 1 50 kg 300 550 mm 300 750 mm 90 200 mm Continues on next page 28 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 1 Specification Continued ...

Страница 29: ... please judge if your products can be lifted by ABB FlexGrippers according to the above FlexGripper parameters and product specifications Product Manual FlexGripper Claw 29 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 1 Specification Continued ...

Страница 30: ...olding the product from its side faces The push plate assembly is an optional feature which can be added if required The action of the press plates and two claws are separately controlled by pneumatic cylinders operating at 4 6 bar Description Part Pos Adjusts the movement of the moving claws The stroke is 100mm Pneumatic cylinder A Signals connections for the FlexGripper Terminal box B Installs t...

Страница 31: ...is moving with the Claw gripper Stroke 125mm Top press plate bend with rubber E Used to make the two claws synchronized reach the close position when the claw gripper is closed Synchronization rod F Grips the products and can be adjusted according to the products size Claw unit G Product Manual FlexGripper Claw 31 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGrip...

Страница 32: ...od with the bracket Spherical hinge B Connects the pneumatic cylinder and supports the claw arm Connect rod C Connect the pneumatic cylinder with the claw Bracket D Connect the claw with the main frame Claw arm E Used to make the two claws synchronized reach the close position when the claw gripper is closed Synchronization rod F Used to support the bag from the bottom Eight fingers on each side 7...

Страница 33: ...Pos Push and draw back the two push plates Pneumatic cylinder A Used to connect the output shaft of the pneumatic cylinder with the push plates of the claw Push plate arm with copper sleve B Used to make the two push plates synchronized reach the close position when the claw gripper is closed Synchronizing rod C Synchronize the moments of the two independent plates connecting to one push plate Rot...

Страница 34: ... total adjustment range of the gripper is 220mm Note When opening the claw the claws should first be opened and then the push plates When close the claw the push plate should first be closed and then the claw The operation order of open close the claw unit and the push plate unit should be observed or it may cause the damage of the gripper 34 Product Manual FlexGripper Claw 4GAA40401009901 001 Rev...

Страница 35: ...transportation land transportation and air transportation on delivery Note Lifting should be done by four people or by a crane Do not hold the solenoid valves terminal box or connectors when lifting the gripper The gripper should be installed in an environment without electromagnetic disturbance to ensure the performance of the magnetic proximity switches Product Manual FlexGripper Claw 35 4GAA404...

Страница 36: ...e assembled new gripper C Compressed air hose blue Cables D Signal cable Black For IRB 460 circular connector For IRB 660 harting connector Black corrugated pipe as cable protection Cable bracket E Note Before installing the new gripper open the package and take out the flange Keep the new gripper in the box for the convenience of later installation If the new gripper is not to be installed immedi...

Страница 37: ... the power is off before starting any work Note ABB recommend that air connected to the new gripper should be 4 6 bar filtered and non lubricated Recommended standard tightening torque For the torque values needed during installation please see the following table The table below specifies the recommended standard tightening torque for oil lubricated allen head screws recommended class 12 9 Tighte...

Страница 38: ...nstructions DANGER Turn off all electric power and pneumatic pressure supplies to the gripper Info Illustration Action No Loosen the screws holding the push plate assembly see figure the width between the two plates can be adjusted to suit the size of the product 1 Adjust the width between the plates and tighten the screw Note and reference to the torque figures table 2 38 Product Manual FlexGripp...

Страница 39: ...e 6 supplied M10 screws and tighten to 47 Nm or the 11x M12 screws tightened to 80 Nm Note The robot pin is inserted in to the non threaded holes in the robot wrist and flange to guarantee the orientation of the new gripper 3 Jog the robot to find the location of the new gripper Set the robot wrist to a low position see Robot User s Guide 4 Mount the flange to the new gripper frame using the suppl...

Страница 40: ... to the terminal box 8 Jog the robot wrist to lift the new gripper package then pull down the wooden box and separate it from the new gripper 9 Set axis 4 to zero angle position Manipu late the robot to check if axis 4 can rotate to the position of angle 180 clockwise and anti clockwise without tensioning of the cables and distortion of the corrugated pipe 10 Continues on next page 40 Product Manu...

Страница 41: ...nditions of the users Users should adjust the buffer unit until the noise and vibration of the gripper has been minimized Info illustration Action Adjust the adjust hole of the pneumatic cylinder to maximum position by anticlock wise direction turning then clockwise screw the adjust hole until the vibration and noise be in the normal level 1 WARNING Adjusting the buffer unit of the pneumatic cylin...

Страница 42: ... working path air pressure and commissioning parameter setting etc Check if the clawing force is suitable to handle the products A filter regulator series MC is used to adjust the compressed air pressure of the press plates The clamping force standard should be the force that the product can be steadily gripped and lifted without falling down Check if any interference exists between cables or robo...

Страница 43: ... set to be 1 and DO10_01_ClawCylinder1_Open is set to be 0 PFPSClawCylinder PROC PFPSClawCylinder IF Present Open THEN SetDO DO10_02_ClawCylinder1_Close 0 SetDO DO10_01_ClawCylinder1_Open 1 WaitDI DI10_01_ClawCylinder1_Opened 1 ENDIF IF Present Close THEN SetDO DO10_01_ClawCylinder1_Open 0 SetDO DO10_02_ClawCylinder1_Close 1 WaitDI DI10_02_ClawCylinder1_Closed 1 ENDIF ENDPROC PFPSFixCylinder PROC ...

Страница 44: ...nder1_Close 1 WaitDI DI10_08_PushCylinder1_Close 1 WaitDI DI10_10_PushCylinder1_Close 1 ENDIF ENDPROC PFPS_PickUpBox PROC PFPS_PickUpBox MoveJ pHome v100 fine tPFPSClawGrip WObj wobj0 TPWrite Robot move to pick postion MoveL Offs pPick 10 0 100 v100 z20 tPFPSClawGrip WObj wobj0 MoveL pPick v100 fine tPFPSClawGrip WObj wobj0 GripLoad PFPSLoadFull TPWrite Robot start to pick up box PFPSClaWCylinder ...

Страница 45: ...bj0 ENDPROC Reference Rapid codes The gripper function can be checked with using rapid codes Modify the data in rapid codes as needed before using MODULE MainModule CONST robtarget pPick 1509 83 1023 10 949 73 1 47514E 06 0 00818497 0 999967 1 02733E 06 1 0 1 0 9E 09 9E 09 9E 09 9E 09 9E 09 9E 09 PERS tooldata tPFPSClawGrip TRUE 0 0 200 1 0 0 0 60 0 0 200 1 0 0 0 0 0 8 PERS Loaddata PFPSLoadFull 5...

Страница 46: ...bj0 MoveC Offs pPick 0 117 283 pPick vmax fine tPFPSClawGrip WObj wobj0 endfor waituntil inpos true clkStop MyClock cycletime clkRead MyClock 5 pace 3600 cycletime ENDPROC PROC PFPSClawCylinder switch Open switch Close IF Present Open THEN SetDO DO10_02_ClawCylinder1_Close 0 SetDO DO10_01_ClawCylinder1_Open 1 WaitDI DI10_01_ClawCylinder1_Opened 1 ENDIF IF Present Close THEN SetDO DO10_01_ClawCylin...

Страница 47: ...Cylinder1_Up 0 SetDO DO10_06_FixCylinder1_Down 1 WaitDI DI10_06_FixCylinder1_Down 1 ENDIF ENDPROC ENDMODULE Software commissioning For detailed software commissioning procedure see New gripper function test Product Manual FlexGripper Claw 47 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 3 5 Commissioning Continued ...

Страница 48: ...onnections should be disconnected before performing any maintenance activity on the new gripper Safety information Before any service work is started it is extremely important that all safety information is read and followed There are general safety aspects that must be read through as well as more specific safety information that describe danger and safety risks when performing the procedures Rea...

Страница 49: ...distortion of the fingers Claw Check the wear extent of the cable protection Cable protection Regularly check that the piston rods of the cylinders are free from dust particles and check that there is no air leakage Pneumatic accessory Ensure all the valve terminal connectors are tightened properly and check that there is no air leakage Product Manual FlexGripper Claw 49 4GAA40401009901 001 Revisi...

Страница 50: ...er brackets and claw arms are weary The claw unit claw finger is distorted The corrugated pipe has worn out Pins in the gripper have worn out seriously Any component that no longer functions correctly Any component that has exceeded its lifetime 50 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 4 3 Regular replacement ...

Страница 51: ...ration Procedure No Jog the gripper to first close the push plates and then the claws 1 Unscrew the locking nut of the spherical hinge 2 A locking nut Rotate the piston rod of the pneu matic cylinder using a spanner until the claw become parallel 3 Continues on next page Product Manual FlexGripper Claw 51 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw ...

Страница 52: ...e push plates and then the claws 1 Dismantle the top press plate by unscrew the mounting screws of the top press plate Unscrew the locking nut 2 A locking nut Rotate the piston rod of the pneu matic cylinder using a spanner until the push plate become vertic al Refer to Claw parallelism on page 51 3 Screw the locking nut 4 52 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright...

Страница 53: ...ough as well as more specific safety information that describes the danger and safety risks when performing specific steps in a procedure Make sure to read through the chapter Safety on page 9 before commencing any service work Note Make sure that the gripper is disconnected from the mains power supply before starting any repair work Product Manual FlexGripper Claw 53 4GAA40401009901 001 Revision ...

Страница 54: ...ed controller D Spherical hinge E Bracket F Pin G Procedure Use this procedure to remove the cylinder DANGER Turn off all electric power and pneumatic pressure supplies to the gripper Continues on next page 54 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 2 1 Replacing the cylinder of the claw ...

Страница 55: ...y switch from the limit switch strap Remove the limit switch strap 3 Parts A Small bolt Remove the pin of the spherical hinge from the bracket by removing the jump rings on the pin 4 Parts A Spherical hinge Continues on next page Product Manual FlexGripper Claw 55 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 2 1 Replacing the cylinder of the claw...

Страница 56: ... Parts A Bolt of trunnion Loosen the locking nut and remove the spherical hinge 6 Parts A Locking nut The pneumatic cylinder is removed 7 56 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 2 1 Replacing the cylinder of the claw Continued ...

Страница 57: ...r D Top push plate bend with rubber E Procedure Use this procedure to remove the cylinder DANGER Turn off all electric power and pneumatic pressure supplies to the gripper Note Action Disconnect air cable on cylinder Drain the air from the cylinder 1 Continues on next page Product Manual FlexGripper Claw 57 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Cla...

Страница 58: ...the top push plate by loose the four mounting screwoftheplate 4 Parts A mounting screw Remove the mounting flange of the gripper by unscrew the mounting screws 5 A mounting screws Continues on next page 58 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 2 2 Replacing the cylinder of the top press plate Continued ...

Страница 59: ... mounting screws 6 A mounting screw of the pneumatic cylinder Remove the pneumatic cylinder 7 Product Manual FlexGripper Claw 59 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 2 2 Replacing the cylinder of the top press plate Continued ...

Страница 60: ...s to the gripper Illustration Description Dismantle the top press plate 1 For details to remove the proximity switches please see Magnetic proximity switch on page 62 Remove the proximity switches on the pneumatic cylinder Dismantle the pin of the rod fork end Mod G from the push arm 2 Dismantle the pneumatic cylinder togeth er with the rod fork end Mod G from the main frame by remove the pin on t...

Страница 61: ...nsert the pin of the rod fork end Mod G to install the rod fork end Mod G on the push plate arm 7 For details to adjust the lock nut see Push plates parallelism on page 52 Adjust the lock nut to make the two push plates be vertical and be parallel with each other in the close position of the gripper 8 Product Manual FlexGripper Claw 61 4GAA40401009901 001 Revision A Copyright 20132019 ABB All righ...

Страница 62: ...roximity switches are located as shown in the figure Position 1 Position 2 Continues on next page 62 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 3 Magnetic proximity switch ...

Страница 63: ...pplies to the gripper Note Action Loosen the small screw and pull out the magnetic proximity switch 1 Parts A Small screw See circuit diagram for details Open the terminal box and remove the cable 2 Remove the magnetic proximity switch 3 Continues on next page Product Manual FlexGripper Claw 63 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 3 Magne...

Страница 64: ...t diagram for details Open the terminal box and remove the cable 2 Remove the magnetic proximity switch 3 See circuit diagram for details Mount the new proximity switch with the small screw and connect its cables to the terminal box 4 Replace magnetic proximity switches in position 3 Use this procedure to remove magnetic proximity switches on the pneumatic cylinder of push plates DANGER Turn off a...

Страница 65: ...d remove the cable 3 Remove the magnetic proximity switch 4 See circuit diagram for details Mount the new proximity switch with the small screw and connect its cables to the terminal box 5 Product Manual FlexGripper Claw 65 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 3 Magnetic proximity switch Continued ...

Страница 66: ... replace the solenoid valve DANGER Turn off all electric power pneumatic pressure supplies to the gripper Note Action Pull out air cable Drain the air from the cylinder 1 Remove super rapid fittings for plastic tubes 2 Unscrew the mounting screws of the switches for the valve units and unplug the switches 3 Continues on next page 66 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Co...

Страница 67: ...e units and remove the solenoid valve 4 Install the new solenoid valve with re versed steps 5 Product Manual FlexGripper Claw 67 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 4 Solenoid valve Continued ...

Страница 68: ...sure supplies to the gripper Note Action Pull out air cable Drain the air from the cylinders 1 Pull out the main compressed air hose from two sides 2 Pull out electrical cable from both sides one side the Gripper terminal box and the other side the robot axis 6 3 Open corrugated pipe clip 4 Remove Dress cable 5 Continues on next page 68 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision ...

Страница 69: ...ion Install the new dreww cable with reversed steps 6 Product Manual FlexGripper Claw 69 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 5 5 Dress cable Continued ...

Страница 70: ...sure the robot system has started up and correctly is connected 1 Make sure the air source is open 2 Make sure the gripper cable and air hose are correctly connec ted to the dress cable 3 Make sure the gripper cable is correctly connected to the ter minal box on the gripper 4 70 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper ...

Страница 71: ...o illustration Action Make sure the gripper system has started up 1 Make sure the connection to the I O board is correct 2 Make sure that there is no air leakage 3 Product Manual FlexGripper Claw 71 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 2 Gripper not responding ...

Страница 72: ...s and causes The movement of the gripper part is not as expected during commissioning Recommended actions Info illustration Action Make sure the connection to the I O board is correct 1 Check the connection in the terminal box 2 72 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 3 Wrong movement ...

Страница 73: ...n Action Make sure the electrical and air connections are correctly and firmly connected 1 Make sure the air pressure is between 4 bar and 6 bar 2 Make sure there is not excessive friction between moving parts See Mechanical noise and vibration on page 75 3 Product Manual FlexGripper Claw 73 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 4 Low perf...

Страница 74: ...and causes Cable or air hose routing Recommended actions Info illustration Action Make sure the cable and air hose are correctly routed 1 74 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 5 Problem jogging the gripper ...

Страница 75: ...ngs Info illustration Action Determine which bearing is emitting the noise 1 Make sure the bearing has sufficient lubrication 2 Replace the bearing to a new one 3 Action for loose bolts Info illustration Action Determine which bearing is emitting the noise 1 Tighten the bolts to the recommended torque 2 Action for worn steel sleeve or lacking of lubrication Info illustration Action Periodically in...

Страница 76: ...es Air leakage in the cylinder Faulty air connection or air leakage caused by the faulty blocking valve Recommended actions Info illustration Action Check if the blocking valve and the cylinder works well 1 Check the air hose connection 2 76 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 7 Workpiece drop down ...

Страница 77: ... Faulty connection Recommended actions Info illustration Action Make sure the LEDs sensors are lit and all the connections are firmly connected 1 Check the connection on the I O board 2 Product Manual FlexGripper Claw 77 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 6 8 No Input signal detected ...

Страница 78: ...llustration Action Check the rubber on the top press plates and push plates 1 If the rubber has worn replace it 2 For push plate not vertical Info Illustration Action Check the two push plates are vertical or not 1 If not adjust the push plate according to Push plates parallelism on page 52 2 78 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserv...

Страница 79: ... of the country in which the gripper units are installed If the gripper units are partially or completely disposed of the various parts must be grouped together according to their nature that is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the gripper units are installe...

Страница 80: ...ials in the product and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Cables Copper Claw Cast iron nodular iron Screws base frame and so on Steel Cables connectors and so on Plastic rubber Flange Aluminium 80 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A...

Страница 81: ...nge for the oil and grease to be recycled Dispose of via an authorized person contractor in accordance with local regulations Do not dispose of oil and grease near lakes ponds ditches down drains or onto soil Incineration must be carried out under controlled conditions in accordance with local regulations Also note that Spills may form a film on water surfaces causing damage to organisms Oxygen tr...

Страница 82: ...HIN ING BENDING 3HAC045912 001 4 2 TOP PRESS PLATE BEND 3HAC045911 001 5 WEAR AND TEAR COMPONENT 2 CLAMP PLATE WITHOUT RUBBER 3HAC045909 001 6 2L 2R ADJUSTING BRACKET ASSY 3HAC045910 001 7 2 BRACKET WITH S CYLINDER WITH SLEEVE 3HAC045903 001 8 Continues on next page 82 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 8 S...

Страница 83: ...EAR COMPONENT 2 ROD CLEVIS 6146 19 WEAR AND TEAR COMPONENT 2 COMPACT CYLINDER 536357 20 WEAR AND TEAR COMPONENT 1 RODLESS CYLINDER MGPM40 125AZ M9BWL 21 WEAR AND TEAR COMPONENT 2 FLOW CONTROLLER AS2201F 01 08SA 22 WEAR AND TEAR COMPONENT 2 SILENCER 2309 23 WEAR AND TEAR COMPONENT 4 SOLENOID VAVLE 564212 24 2 Rod End Coupling Rods LBRFN12 246 25 WEAR AND TEAR COMPONENT 2 Rod End Bearing PHSC12 26 W...

Страница 84: ...neumatic diagram For Electrical and pneumatic circuit diagram of FlexGripper Claw see Link 84 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 2 FlexGripper Claw 2 9 Circuit diagram ...

Страница 85: ...allation Add in Use the following procedure to build a system using RW Addin package using installation manager for RW6 version Open RobotStudio and navigate to the Addin tab From the ribbon press Install Package Browse to the Robot manifest File rmf for the multiflexgripperui_2 03 0028 00 Add in This is done only if a new Add in is needed The system should be upgraded by un installing the previou...

Страница 86: ...ddition to the existing robotware license Large end customers have the option for selecting the site license Build the system with the options required Download the system Continues on next page 86 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 1 1 Installing FlexGripper UI Flexpendant application Continued ...

Страница 87: ...t the Controller Product Manual FlexGripper Claw 87 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 1 1 Installing FlexGripper UI Flexpendant application Continued ...

Страница 88: ...are 49 34 XT5 1 11 DO09 DO10_09_Spare 50 35 XT5 1 12 DO10 DO10_10_Spare 16 1 XT6 1 DI01 DI10_01_Clamp Cyl1_Left_Open 17 2 XT6 2 DI02 DI10_02_Clamp Cyl1_Left_Close 18 3 XT6 3 DI03 DI10_03_Clamp Cyl1_Right_Open 19 4 XT6 4 DI04 DI10_04_Clamp Cyl1_Right_Close 20 5 XT5 2 1 DI05 DI10_05_Claw Cyl2_Left_Open 21 6 XT5 2 2 DI06 DI10_06_Claw Cyl2_Left_Close 22 7 XT5 2 3 DI07 DI10_07_Claw Cyl2_Right_Open 23 8...

Страница 89: ...If a default path has been defined this is shown xx0300000441 2 Note By default a name for the Backup folder is created which can be renamed by the user later While renaming ensure that the name does not start with a space If the folder name starts with a space a warning dialog appears Is the displayed backup path the correct one 3 If YES Tap Backup to perform the backup to the selected directory ...

Страница 90: ...portant to always make a back up before I start Use this procedure to restart the system using the restart mode Reset System 1 Make a backup of the system 2 On the ABB menu tap Restart The restart page is displayed 3 Tap Advanced to select restart method The select restart method dialog is displayed 4 Tap Reset System then tap OK 5 Restore the backup system 90 Product Manual FlexGripper Claw 4GAA4...

Страница 91: ... FlexGripper UI has three function blocks Tool handle TCP edit and Production which you can see after entering the main interface Product Manual FlexGripper Claw 91 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 1 FlexGripper UI main interface ...

Страница 92: ...llowing interface shows with a safety alert warning the danger could result from the robot operation Press OK the following screen shows Continues on next page 92 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 2 1 FlexGripper Claw function test ...

Страница 93: ...Description Button Name DDO10_03_ClawCyl2_Open To Open the claw Claw Open button lights up and change to 1 DO10_04_ClawCyl2_Close To Close the claw Claw Close button lights up and change to 1 DO10_01_ClampCyl1_Open To Open the clamp Clamp Open Continues on next page Product Manual FlexGripper Claw 93 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 2 1...

Страница 94: ...e Push Plate Down button lights up and change to 1 Note After entering the main interface and touching any of the buttons a warning message would shows prompting converting to manual mode Switch the control mode from auto mode to manual mode the operations are now available Touch Back to Main button the interface returns to the main interface 94 Product Manual FlexGripper Claw 4GAA40401009901 001 ...

Страница 95: ...al If the scope and storage type of the TCP is not correct it can not be monitored Touch TCP tab the following interface would shows The grey column indicates data columns are not editable The white columns indicate they are in editable mode Continues on next page Product Manual FlexGripper Claw 95 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 2 2 T...

Страница 96: ... and touch OK The related parameters of the TCP are automatically loaded into the Tool field on the left and the Load field on the right Continues on next page 96 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 2 2 TCP edit Continued ...

Страница 97: ...t right symbol used to move cursor left right The cross button has the function of backspace For data description and valid data scope see Table TCP Parameter description After the editing touch OK to confirm the editing Then touch Apply the editing is saved which is indicated by the data input columns turning grey Continues on next page Product Manual FlexGripper Claw 97 4GAA40401009901 001 Revis...

Страница 98: ...Y value of the center of gravity of the tool load x y and z in mm cog y The Z value of the center of gravity of the tool load x y and z in mm cog z The X value of the moments of inertia of the tool relative to its center of mass around the tool load coordinate axes in kgm2 inertia x The Y value of the moments of inertia of the tool relative to its center of mass around the tool load coordinate axe...

Страница 99: ... to the new center of gravity If the user wants to add a TCP themselves they can add a TCP in the program Then the newly added TCP can be shown in the TCP list when tapping Select TCP in the TCP interface Product Manual FlexGripper Claw 99 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 2 2 TCP edit Continued ...

Страница 100: ...B1 Storage type Persistent and variable Scope Task Global and Local If the scope and storage type of the robot target is not correct it can not be monitored Touch the Tune button in the FlexGripper UI main interface and enter the Tune interface By default there are three robot targets listed pPick pPlace and pHome Continues on next page 100 Product Manual FlexGripper Claw 4GAA40401009901 001 Revis...

Страница 101: ...e selected robot target position is taught Meanwhile the corresponding parameters of the TCP are automatically loaded into the Pos offset column Teach target After target teach if the robot doesn t reach the exact position the offset function can be used to fine tune the robot target Target position offset In the Pos offset column touching the plus sign increases the position in mm and the minus s...

Страница 102: ...variable Scope Task Global If the scope and storage type of the work object is not correct it can not be monitored Touch the Work object tune tab to enter the work object tune interface Work object tune operation Procedure Action Choose work object from the drop down list on the left The work object x y z in mm shows up on the right Choose work target Touch the minus button to decrease the value a...

Страница 103: ...ting which includes a part pick and place cycle Note When pressing the test buttons a message shows prompting you to press the run button Press the run button Before the test the TCP should be edited according to the real payload in test run and all the robot target positions must be accurate Product Manual FlexGripper Claw 103 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reser...

Страница 104: ...an monitor the production by the status of signals and variables Users can check if the signal status or variable status is correct If it is not in the right condition check the corresponding equipment 104 Product Manual FlexGripper Claw 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 2 4 1 Production monitor ...

Страница 105: ... signal list shows After selecting one of the signals using the two arrows buttons see the picture above on the right to choose former signals or signals below Use the yellow double triangle single triangle buttons to go to the first last page or to move the page up down Continues on next page Product Manual FlexGripper Claw 105 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights rese...

Страница 106: ...nly include numbers letters and underline sign Note No more than 12 signals can be added Select the signal to be modified and press the Modify button You can then modify its type signal and name in the dropdown list or the soft keyboard Press cancel if no modification is needed Modify signal Select the signal to be deleted and press delete The signal is then de leted from the monitor signal list D...

Страница 107: ...ed in the drop drop down list or by using the soft keyboard Select cancel if no modification is needed Modify variable Select the variable to be deleted and press delete The variable is deleted from the monitor variable list Delete variable When you have finished editing select Save to save any changes Press the Back to Production button to return to the Production main interface Note The variable...

Страница 108: ...nd Variable Robot target can not be edited Can not edit the robot target Description The scope of the robot target is not correct The storage type of the robot target is not correct Possible reason Make sure the scope and the storage type are correct Solution The valid scope of robot target is Task T_ROB1 Scope Global Task and local Storage type Persistent and Variable Work object can not be edite...

Страница 109: ...r UI option is selected for the current system from ABB main menu SystemInfo SystemProperties Additional Option on the FlexPendant If the option is not displayed in the list reinstall the TrueView application Solution Position out of reach Description Robot target position is out of reach of the robot Possible reason Check and change the robot target position to a valid scope Solution Continues on...

Страница 110: ... when clicking on the GUI icon Description Too many views are opened at the same time Possible reason Close one or more of the views not in use Solution Duplicated address Description Two I O units with the same addresses are named with BOARD10 Possible reason Enter Control panel Configration Unit BOARD10 edit the ad dresses name to BOARD11 Solution Continues on next page 110 Product Manual FlexGr...

Страница 111: ...claw cfg For example C Program Files ABB Industrial IT Robotics IT MediaPool MultiFlexGripperUI Sys par Ver2 0_EIO EIO_Claw cfg Product Manual FlexGripper Claw 111 4GAA40401009901 001 Revision A Copyright 20132019 ABB All rights reserved 3 FlexGripper UI 3 3 Trouble shooting Continued ...

Страница 112: ...This page is intentionally left blank ...

Страница 113: ...on disposal 80 P plastic disposal 80 R responsibility and validity 10 rubber disposal 80 S safety fire extinguishing 19 robot 10 service 10 signals 21 signals in manual 21 symbols 21 safety risk operational disturbance 15 safety signals in manual 21 signals safety 21 steel disposal 80 symbols safety 21 system backup 89 T three position enabling device 20 V validity and responsibility 10 Product Ma...

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Страница 116: ...5 N 4349 BRYNE Norway Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 4GAA40401009901 001 Rev A en Copyright 20132019 ABB All rights reserved ...

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