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Ewellix LIFTKIT-UR, Инструкция по установке, эксплуатации и обслуживанию, Страница: 13 / 18

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8.0 S of tware op eration

The LIFTKIT's URCaps enables movement of LIFTKIT di-

rectly in the UR Polyscope environment. When going into 

programming mode in Polyscope, the LIFTKIT's setup can 

be accessed in the installation tab. The movement of 

LIFTKIT can then be accessed directly in the Program tab.

8.1  LIFTKIT installation

The LIFTKIT's installation screen (shown below) allows to set 

up three aspects of the LIFTKIT's operation: 1. 

Communication, 2. Type of LIFTKIT selection, 3. 

Programming of accessible positions.

8.1.1  Safety I/O setup on UR controller

To activate LIFTKIT, the safety I/O has to be configured cor-

rectly in the UR environment. In the Safety section of the in-

stallation tab, set the relevant safety output to ‘System 

Emergency Stopped’.

8.1.2  Communication

•  Serial interface: Select the serial interface on the UR con-

troller that enables the connection. In case other devices 

are connected, select a free serial port.

•  Daemon port: Select a daemon port that is not used by 

another URCaps. If the same port is used for different  

URCaps, communication problems might occur and  

LIFTKIT cannot operate normally.

8.1.3  LIFTKIT setup

Pillar version: Select the correct pillar version from the 

drop-down menu. The important selection criteria are the 

last three digits, i.e. LIFTKIT-UR-601. By selecting a wrong 

configuration, a normal operation of LIFTKIT cannot be 

guaranteed! If the pillar has been initialized correctly, the 

maximum stroke accessible is displayed.
Check that this value corresponds with the product 

connected. 

8.1.4  Position setup

Up to ten positions of LIFTKIT can be set up to be accessi-

ble in the UR programming mode. To add a position, enter 

the value of the position in mm and press ‘Add’. An addi-

tional position is added to the list of positions.
Similarly, positions can be deleted or updated.
The 0 mm position (fully retracted) is the default and cannot 

be deleted. Note: Save the installation file to keep the se-

lected positions after a restart of the UR system.
Note: If more positions are required, a function call is availa-

ble to access any position directly (see instructions later in 

this chapter).

8.0  Software operation

Содержание LIFTKIT-UR

Страница 1: ...CATEGORY MAX 2 LINES INSTALLATION OPERATION AND MAINTENANCE MANUAL LIFTKIT UR ...

Страница 2: ...ize LIFTKIT First use only Without UR safety I O Latest URCaps version www ewellix com Setup E stop in safety I O settings Setup communication settings 3 1 Press both handswitch buttons at the same time until control ler beeps 5sec 3 2 Move pillar downwards until end stop beep 3 3 Move pillar upwards until end stop beep 4 Screw robot to pillar install URCaps software 5 ...

Страница 3: ...cal 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 Installat...

Страница 4: ... the device s direct proximity and should be available for person nel to read at any time All personnel working with the de vice must read and understand this manual before starting any work Strict compliance with all specified safety notes and instructions is a basic requirement for safety at work Moreover the accident prevention guidelines and general safety regulations applicable at the place o...

Страница 5: ... but adds additional instruc tions relevant to the setup and operation of the LIFTKIT s system related to collaborative robots For general information and safety instructions please refer to installation operation and maintenance manuals available at www ewellix com TC 08023 EN THG TLG TLT operating manual TC 08005 EN SCU operating manual 1 5 Target audience This manual is intended for qualified t...

Страница 6: ... integrated mechanical brake that pre vents back driving of the pillar in case of power loss or motor failure A backup nut is installed to prevent a sudden collapse of the pillar in case of failure or wear of the nut Pinching risk between the tube sections of the pillar and the UR attachment plate is minimized In retracted posi tion the minimum gap is 40 mm The LIFTKIT s SCU controller has to be c...

Страница 7: ...Movement of the robot can occur at a different position than intended causing significant serious injury or death or property damage 2 6 Stopping behavior LIFTKIT stops differently depending on the stop mechanism triggered The following four stopping behaviors can occur Stopping mechanism Stop distance Stop time Power line to SCU controller is cut by safety relay Category 0 LIFTKIT de energized un...

Страница 8: ...12 10 14 15 11 13 3 4 6 LIFTKIT QUICK START GUIDE LIFTKIT For more details on each step read the corresponding installation operation and maintenance manual Please check on ewellix com products telescopic pillars liftkit 1 Mount interface plates to pillar top and bottom 2 Connect all cables 3 Initialize LIFTKIT First use only LIFTKIT UR Others 3 1 Press both handswitch buttons at the same time unt...

Страница 9: ... if mounting to a SLIDEKIT attach the bottom plate with 8x M6 screws to the LIFTKIT s attachment plate 5 Loosen and remove 4 transport screws at the top 1 6 Attach the top UR attachment plate 4 using 4 M10x40 screws screw 10 on the inner guiding tube a Ensure tightening torque 40 Nm on these screws 7 If required insert the 2 alignment pins on the top plate and press them in or use a plastic hammer...

Страница 10: ...n troubleshooting 5 Connect the UR safety I O connection cable cable 6 to port 7 6 Connect the RS232 cable cable 4 to the USB adapter cable 5 NOTE If connecting LIFTKIT for the first time LIFTKIT has to be initialized Perform the initialization routine now as described in Chapter 6 before continuing with the next steps 7 Plug in USB adapter cable to UR controller USB port 13 5 0 Electrical connect...

Страница 11: ...ons simultaneously for about 5 seconds until the SCU rattles and beeps Now the pil lar will run at 50 speed and force 4 Move the pillar downwards until it hits the end position The SCU controller beeps 5 Move the pillar upwards to the top position until it hits the end position The SCU controller beeps 6 Now the end positions have been identified and virtual limits have been set to always stop the...

Страница 12: ...nality on the CB Series is similar but might have a different appearance To install the LIFTKIT s URCaps follow the described steps 1 Go to the setup screen by pressing the top right corner hamburger menu 2 Insert the LIFTKIT s USB Drive into the USB port at the teach pendant 3 In the left side menu choose System URCaps Then press choose the URCaps file from the LIFTKIT s USB drive then press Rest...

Страница 13: ...not used by another URCaps If the same port is used for different URCaps communication problems might occur and LIFTKIT cannot operate normally 8 1 3 LIFTKIT setup Pillar version Select the correct pillar version from the drop down menu The important selection criteria are the last three digits i e LIFTKIT UR 601 By selecting a wrong configuration a normal operation of LIFTKIT cannot be guaranteed...

Страница 14: ...cess a LIFTKIT position select the LIFT command in the Robot Program and select the Command tab From the drop down menu the set up positions can be se lected After selection this position is automatically set at this command point To move to this position immediately keep the Move to Position button pressed until the position is reached 8 2 3 Access positions in script The current position of LIFT...

Страница 15: ...ty cycle in technical specification Wait 20 minutes and try again The communication port of the URCaps daemon Installation tab interferes with another URCaps Change the port to an alternative number and try again The serial connection is not connected in the URCaps Check all cable connections and re start the robot controller The pillar stops before reaching its maximum stroke Control unit cuts of...

Страница 16: ... higher Positioning repeatability mm 1 Accessible positions any Feedback Position feedback via URCaps Soft start and stop Implemented for smooth operation Software control URcap Environment Type of protection IP40 in operational state Ambient temperature C 10 to 40 Max humidity 85 Altitude m 2 000 Vibration Stationary industrial environment Technical data Operating range extension Vertical lifting...

Страница 17: ... 12 mm deep Holes also on opposite side 4 M10 30 mm deep 4 M10 101 20 40 83 5 27 6 40 40 8 M5 11 mm deep 340 141 5 2 13 5 50 5 75 75 360 365 87 Controller Robot attachment plate TLT Pillar Bottom fixation plate 180 70 140 200 180 146 UR3 4 M6 UR5 4 M8 UR10 UR16 4 M8 4 11 mm 8 6 3 mm 15 196 196 15 Stroke 4 30 mm deep Retracted length 4 without mounting plates Length 2 300 mm 146 163 129 3 M5 12 mm ...

Страница 18: ...ix does not take any responsibility for damage or other loss resulting from omissions or ty pographical errors The photo may differ slightly in appearance from the actual product Due to continuous improvements being made in our products the prod uct s appearance and specifications are subject to change without notice PUB NUM TC 08038 1 EN February 2021 UR Universal Robots and Universal Robots logo...

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