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Quick-Change

Installation and Operation Manual

Document #9620-20-c-dkgm dkft-03

Pinnacle Park

•

1031 Goodworth Drive

•

Apex, NC 27539

•

Tel: 919.772.0115

•

Fax: 919.772.8259

•

www.ati-ia.com

•

Email: info@ati-

ia.com

C - 10

Tool Side Port:

Auto Negotiation:Disabled
Speed:100MPS
DuplexFull Duplex
Auto-MDIX:Disabled

MDI Setting:MDI-X2

The default settings support EtherNet/IP Quick Connect.

The Ethernet switch can be reset to these known default settings by setting DIP switch 1
through 8 to the ON position and performing a power cycle.

Important note

: In order to support a standard (not Quick Connect) EtherNet/IP application

Auto Negotiation and Auto Crossover must be enabled on the Robot and the Tool Side Port.
Otherwise there can be communication errors.

3.1.5 Ethernet Switch Diagnostics

On the Diagnostics page of the web server (see also

) the DKG-M module displays

the current status of the robot and tool side port settings, as well as their diagnostic counters.
This is the same information that is reported over the Ethernet Link Object 0xF6 in the
EtherNet/IP protocol.

2

MDI-X = Crossover

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Содержание DKF-T

Страница 1: ...itches on the Master Module 11 3 1 7 Module and Network Status LED 12 3 1 8 Using Ethernet Quick Connect 13 3 2 Arc Prevention Circuit 14 3 2 1 Arc Prevention Circuit Behavior during Coupling 14 3 2 2 Arc Prevention Circuit Behavior during Uncoupling 14 3 3 Tool Module 15 3 3 1 Tool ID Switches 15 3 4 Tool Side TSI 16 3 4 1 TSI Behavior for Module with Firmware Version 2 52 or Later 16 3 4 2 TSI B...

Страница 2: ...ceive on an MDIX device Similarly pins 2 and 4 are receive on an MDI device and transmit on an MDIX device Input and Logic Power Good An input indicating the presence of Input Power sourced from the Un switched Power Supply at the ATI Master RTL A proximity sensor input that senses when the ATI Tool is in close proximity RTL stands for Ready To Lock RTLV An input provided for health status monitor...

Страница 3: ...rt circuit and overload conditions as well as for the presence of Tool ID Refer to Sections 3 Product Information and Section 4 Operation for more information on these attributes The DKG Module incorporates ATI s exclusive Arc Prevention Circuit which extends the life of all electrical power contacts on the pin block Refer to Section 3 2 Arc Prevention Circuit for more information about this featu...

Страница 4: ...ion and Operation Manual Document 9620 20 c dkgm dkft 03 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com C 4 Figure 1 1 DKG M DKF T EtherNet IP Modules ...

Страница 5: ...r signal auxiliary sensor and valve cables can be connected to the module after attaching the module to the Tool Changer body Ensure that the connectors are cleaned prior to being secured as appropriate Figure 2 1 Module Installation 2 2 Removal 1 Prior to removing the module use a marker pen to scribe a line or indication between the Tool Changer and module body as a reminder where the module is ...

Страница 6: ...failing The routing of electrical and pneumatic lines must minimize the possibility of over stressing pullout or kinking the lines Failure to do so can cause some critical electrical and or pneumatic lines not to function properly and may result in injury to personnel or damage to equipment Follow the robot manufacturer s guidelines and carefully route hoses and cables to avoid damage CAUTION Ethe...

Страница 7: ...2 Integrated Web Server The module s integrated web server hosts several web pages One of the pages provides configuration options for communication settings reference Figure 3 1 A web browser such as Internet Explorer or Mozilla Firefox is required to access the web server The module s web pages use simple HTML and do not require any plug ins To bring up the main page of the web server type the m...

Страница 8: ...represent bits 0 7 of the octet in that order The DIP switches evaluate to a bit value of 1 when in the ON position and a bit value of 0 when in the OFF position Note If the DIP switches evaluate to an octet of 0 DIP switches 1 8 all off or 255 DIP switches 1 8 all on the last octet will be set to 1 in order to avoid using an illegal network address If the DIP switches evaluate to an octet of 255 ...

Страница 9: ...gure 3 1 DKG Integrated Web Server Communication Settings Page 3 1 4 Ethernet Switch Settings The DKG module has an integrated Ethernet switch where the settings of two ports can be changed using the web server The DKG module gets shipped with the following switch settings Robot Side Port Auto Negotiation Enabled Speed 100MPS DuplexFull Duplex Auto MDIX1 Enabled MDI Setting MDI 1 Auto MDIX Auto Cr...

Страница 10: ...ting DIP switch 1 through 8 to the ON position and performing a power cycle Important note In order to support a standard not Quick Connect EtherNet IP application Auto Negotiation and Auto Crossover must be enabled on the Robot and the Tool Side Port Otherwise there can be communication errors 3 1 5 Ethernet Switch Diagnostics On the Diagnostics page of the web server see also Figure 3 2 the DKG ...

Страница 11: ... ati ia com C 11 Figure 3 2 DKG Integrated Web Server Diagnostics Page 3 1 6 DIP Switches on the Master Module The DKG M module has 10 DIP switches which have the following functions DIP 1 through 8 last octet of the DKGs IP address See Section 3 1 3 for details DIP 9 set DKG M IP address settings to the default values See Figure 3 3 for details DIP 10 must always be in the OFF position ...

Страница 12: ... NS LED MS LED Default Settings IP Address 136 129 1 1 Subnet Mask 255 255 0 0 Gateway 0 0 0 0 Switch 1 ON Switches 2 8 and 10 Off Table 3 1 Module Status LED Status LED Function Note No Power Off No power applied Check voltage is 24 VDC Operational Green Normal operation Standby Flashing Green No Tool Module attached Tool ID in bitmap not available Configuration missing incomplete or incorrect Re...

Страница 13: ...oller that all electrical connections to the tool side devices are made and power is applied This signal comes from the tool changer The DKG module reports Tool Electrical Lock as Tool Power Is On in the bitmap Byte 4 bit 7 refer to Section 3 5 Software In Figure 3 4 actions shown in red are the typical application actions but may vary and are outside the scope of the manual Refer to section E 3 o...

Страница 14: ...he electrical contacts become fully engaged to when power is actually available to the EOAT time t1 in the diagram is less than 100ms Important The Arc Prevention Circuit will only allow power to pass to the Tool after the LATCH command has been issued and the Master and Tool module s electrical contacts are fully engaged The Tool Power Is On Byte 4 bit 7 refer to Section 3 5 Software indicates wh...

Страница 15: ...e Tool ID value remove the four screws that attach the clear window over the Tool ID switch Use the pushbuttons to set the Tool ID to the desired value Note When there is no Tool mated to the Master the Tool Present bit will become low and each Tool ID bit will be assigned a value of 1 which translates to a Tool ID of 15 Since a Tool ID of 15 is impossible there are only 0 9 digits on the thumbwhe...

Страница 16: ...TSI status signals are also reported in the bitmap refer to Section 3 5 Software RTLV Ready to Lock Verify Ready to Lock Verify status of RTL bypass relay in the Master module TSIV TSI Limit Switch Verify Status of 2nd contact of the limit switch that is located on the Tool TSRV TSI Relay Verify Status of the TSI Relay in the Tool module Section 4 1 Recommended Sequence of Operation describes in d...

Страница 17: ...for the Unlatch command Firmware compares the RTL sensor signals with the TSIV input and enables the Unlatch command only if it meets the conditions in Table 3 4 Table 3 4 UNLATCH Enable Logic and Truth Table RTL1 RLT2 TSIV UNLATCH Enabled Status of Master Body 0 0 1 No Tool positioned in free air 0 1 1 No Tool positioned in Tool Stand This is a transient state which is only true just prior to RTL...

Страница 18: ...r Input 2 Input and Logic Power Good Input and Logic Power Present Input 3 Valve Power Available Valve Power Present Input 4 RTL1 Ready to Lock 1 Proximity Sensor Input 5 RTL2 Ready to Lock 2 Proximity Sensor Input 6 RTLV Ready to Lock Verify Input 7 Reserved 2 0 Tool ID 1 Tool ID 1 Tool ID 2 Tool ID 2 Tool ID 4 Tool ID 3 Tool ID 8 Tool ID 4 TSIV TSI Limit Switch Verify 5 TSRV TSI Relay Verify 6 U...

Страница 19: ... Bitmap Robot Outputs to 9121 DKG M Module Ethernet Default IP Address 136 129 1 1 Byte Bit Name Description Function 1 0 Latch Lock Latch Solenoid Valve Output 1 Unlatch Unlock Unlatch Solenoid Valve Output 2 Reserved 3 Clear Errors Reset errors allow affected I O to be reactivated 4 Reserved 5 Reserved 6 Reserved 7 Reserved 2 8 0 Reserved 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 ...

Страница 20: ...g on the Tool bearing race a The Latch output command is made false and the Unlatch output command is made true b The Unlocked input goes true and remains true indicating that the Tool Changer locking mechanism is fully retracted and the Unlatch operation is complete 3 Robot and Master move into the Tool are parallel and within 0 125 to 0 06 of the Tool i e the module contact pins are touching but...

Страница 21: ...s activated and the TSIV input goes true indicating that it is safe to uncouple the Tool Changer b Unlatch Enabled becomes true 9 Uncouple the Tool Changer a The Latch output is made false and the Unlatch output is made true b Power On Tool is On becomes false and power on the Tool turns off c Communication is lost with the downstream devices d The Locked input goes false a short time later and su...

Страница 22: ... above 21V the Valve Power Available bit will be set high If the voltage falls below the 21V threshold the bit will be set low It will become high again as soon as the voltage rises above 21V 5 3 Error on Latch or Unlatch Output The valve control outputs of the DKG module are protected against overload conditions such as those created by a short circuit During an overload condition the LATCH and o...

Страница 23: ...loose then tighten to the proper torque Cable connections should be inspected during maintenance periods to ensure they are secure Loose connections should be cleaned and re tightened as appropriate Inspect cable sheathing for damage repair or replace damaged cabling Loose connections or damaged cabling are not expected and may indicate improper routing and or strain relieving Inspect the Master a...

Страница 24: ...eal Replacement Replace the V Ring seal 1 To remove the existing seal pinch edge of seal with fingers and gently pull the seal away from the pin block on the Master 2 Pull the seal off the pin block 3 To install a new seal stretch the new seal over the shoulder of the pin block 4 Push the seal s hub down against the pin block using finger tip Figure 4 3 V Ring seal Replacement NOTICE Do not use an...

Страница 25: ...ly Refer to Tool Changer Manual Ensure that the Tool Plate is securely held to the Master Plate that nothing is trapped between their surfaces and that there is no air trapped in the Unlock U air port No or Loss of Ethernet Communication Check Replace Ethernet cabling up and down stream of Tool Changer Modules Verify proper EtherNet IP addressing Verify that Input power is connected and available ...

Страница 26: ...tion Edition 1 12 2011 ODVA The DHCP option is factory set to disabled Interface Connections Logic and Input power Mini 4 Pin Male Ethernet M12 D Coded 4 Pin Female Integrated Tool Changer I O 4 8mm 3 Pin Female supporting Tool Changer Locked Unlocked and Ready to Lock proximity sensors internal 3 Pin pin block to transmit latch and unlatch signal to the solenoid Valve 24VDC for control signals 5A...

Страница 27: ...hange Installation and Operation Manual Document 9620 20 c dkgm dkft 03 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com C 27 10 Drawings ...

Страница 28: ...uick Change Installation and Operation Manual Document 9620 20 c dkgm dkft 03 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com C 28 ...

Страница 29: ...uick Change Installation and Operation Manual Document 9620 20 c dkgm dkft 03 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com C 29 ...

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