Magswitch CoBot SmartMagGrip E30 URCap, Manual

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...