Magswitch CoBot SmartMagGrip E30 URCap Manuale utente

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CoBot SmartMagGrip E30 URCap Manual

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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

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Magswitch Gripper URCap Installation

Open the settings menu and go to URCaps under the system tab.

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 URcap is present under Active URCaps, this indicates

successful installation.

Fig 2: Successful Installation of Magswitch Gripper URCap

For more detailed steps please refer the following link: Universal_Robots_ROS_Driver/install_urcap_e_series.md at

master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub

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Powering Magswitch 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 menu.

Fig 3: Selecting Magswitch Gripper from Tool I/O

Fig 4: Magswitch Gripper Connected to Cobot

Note: If experiencing issues involving current, a possible solution would be to select “Dual Pin Power”, see red

arrow on Fig 4.

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Configuring Tool Center Point (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 pertains to desired payload (shown below in Figure

6). Note that this also selects the tool’s center of gravity (COG). Detailed information about configurations can be found

on figure 10.

Fig 5: Dropdown menu for configuring tool payload

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Fig 6: Dropdown menu for configuring tool payload

Another way to set payload would 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.

Fig 7: Dropdown menu for configuring TCP

Under the Program tab, select basic and then Set Payload to configure the tool Payload (shown below in Figure 8). Under

the drop-down menu, select the configuration that pertains to desired payload.

Fig 8: Dropdown menu for configuring tool payload

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Fig 9: Magswitch 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 the flat mount interface. Type B is when the 45° mounting plate is used and the cable exit port is

closest to the eight-pinned connector. Type C also requires the 45° mounting plate but reversed tool mounting from type

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Magswitch Gripper URCap Installation Interface

To enter the gripper URCap installation, go to URCaps and select Magswitch 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 5.11 and above.

Fig 11: Magswitch Gripper Installation URCap when gripper is powered off

With the gripper powered on, the Home Magswitch button is active. The blue and green LEDs on the gripper will begin

flashing to indicate that the gripper is not homed.

Fig 12: Magswitch Gripper Installation URCap when gripper is powered on

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Once the gripper is homed, the rest of the buttons are no longer grayed out and the gripper can now be controlled from

the buttons on the installation interface. The green indication LEDs indicate the various output signals sent by the

gripper to the CoBot. The gripper can only be homed once after turning on. It needs to be 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 Installation UI.

Type (from

Gripper

perspective)

Magswitch Gripper

Installation Controls

Description

Control Type

Input

Home Magswitch

Sends command to home

Magswitch Gripper

**The gripper can only be homed

once after turning on

Button

Input

Turn Magswitch Full On

Turn on Magswitch to 100% ON

Button

Input

Turn Magswitch Full Off

Turn off Magswitch to 0% ON

Button

Input

Requested Position

Can be set to a position between

0 –100.

Input Box

Input

Turn Magswitch Partial On

Sends command to turn magnet

on to Requested Position

Button

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Type (from

Gripper

perspective)

Magswitch Gripper

Installation Controls

Description

Control Type

Input

Enable Auto Home

If checked the gripper will home

automatically at the beginning of

the program if it was not homed

previously

Check Box

Input

Simple Learn

Send command to perform

simple learn

Button

Input

Multi Step Learn

Send command to perform multi

step 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

Sends command to change

magnet sensitivity of part present

Default = 0

Accepts values from -20 to 50 as

input.

“– “is more sensitive and

decreases the acceptable range.

“+”is less sensitive and

increases the acceptable range.

Input Box

Output

Magswitch Ready

Indicates if Magswitch is Homed

Indication LED

Output

Magswitch Full On

Indicates if Magswitch is turned

on at 100% position

Indication LED

Output

Magswitch Full Off

Indicates if Magswitch is turned

off at 0% position

Indication LED

Output

Magswitch Partial On

Indicates if Magnet is partially on

–2%-99% ON

Indication LED

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Type (from

Gripper

perspective)

Magswitch Gripper

Installation Controls

Description

Control Type

Output

Actual Position

Indicates actual position of the

Magnet, value can be from 0 to

100%

Output Box

Output

Learn 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 south pole

4 = waiting for north pole

Output Box

Output

Learn Error

Indicates error while performing

calibration. Magnet was not fully

on when trying to teach

calibration step.

Indication LED

Output

Part Present

Indicates proper Part Present

within range of selected learned

part

Indication LED

Output

N Pole On

Indicates if North Pole is on

Indication LED

Output

S Pole On

Indicates if South Pole is on

Indication LED

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