R12 ToolChanger instructionspage 4STrobotics
WARNING
Beforetryinganyofthefollowingcommandsbesureto
KEEP OUTOFTHEROBOTENVELOPE
Take greatcareinteachingthechangerpositions. Use alow speed.
Ifyoucrashtherobotturnoff power, take back tohomeandre-calibrate.
Notice:
Anydamagetotherobot6th axisduetocollisionisnotcoveredbywarranty.
How toprogramthetool changer.
Beforeyoustartyoumustsetthetool intheunlockedpositionbyhand.
Find the hardstop whichisasmall pillarthat can moveagainst astop. Rotatethe changer
byhand clockwiseasfarasit will go, withthe pillaragainst the stop. Thisisessential. If at
anytimethisgetsmoved whilenot holding atoolthen you must set it againbyhand.
See programbelow. Thiswill be on yourCD asaproject, R12TOOLCHANGE.run
Gotothe safeposition
READYfora5-axisR12 orREADY2fora6-axisR12.
The robot will end up at aposition withthe hand centerlevelwiththe toolchanger,
pointing down.
Onceyou havefamiliarized yourself withthe useof projectsyou can load the project. The
positionswherethe toolsareparked arepredefined aspositionsin2routes, APATH(for
the gripper) and BPATH(forthe vacuumpickup). Yourpositionswill be completely
different. You will need tostart overwiththeseroutes. You can deletethe linesone by
one oryou can enterAPATHERASE BPATHERASE then click the red up-arrow.
Do not useALIGN
(enterNONALIGN)
Starting withthe gripper, inRobWinselect and open APATH. (deleteall linesinit if not
alreadydone).
Next click the J(jog)button and movethe robot overthe rack and downtowardsthe first
tool(suggest vacuumpickup)using the teachpad inJog mode.
Watchthe guide spikesgoing intothe holesinthe tool-side adaptor. You will need to
change roll forcertain–J6on a6-axisand J5on a5-axis. You will alsoneed tomoveinX
and Yaxestoget the best fit. You will need tochange the increment downto1mm or
even 0.1mm toget the position exact.
