100077-b ServoGripInstall
Contents
1. Figure 2 Connecting Gripper Cable to SCORBOT ER VII DC Servo Gripper 2 Installation Guide 9903 SCORBOT ER IX Before you install the DC servo gripper make sure the EPROMs in your Controller B are Version 2 25 or later Upgrade the EPROMs if necessary Be sure to configure the controller after you have exchanged the EPROMs 1 Turn on the computer and the controller 2 Activate ATS 3 Enter the command HOME and make sure the routine is successfully completed The robot must be in the home position for the proper installation of the gripper Do not change the position of the robot after it has been homed 4 Turn off the controller 5 Using four M4x10 socket screws and a 3mm Allen key hex wrench attach the gripper to the gripper mounting flange at the end of the robot arm as shown in the inset in Figure 3 6 Connect the gripper cable to the electrical connector on the robot arm Make sure the connector is oriented as shown in Figure 3 7 Make sure the gripper cable is positioned as shown in Figure 4 8 Turn on the controller 9 Press Ctrl F3 to activate the ATS Peripheral Setup screen Set the robot gripper type definition to DC Servo Gripper and the gripper connection to Axis 6 Refer to the Controller B User s Manual and the ATS for Controller B Reference Guide for details on installation and setup 11 Execute the robot HOME command If the gripper cable becomes entangled or ex2. gripper motor when opening and closing the gripper To improve gripper operation increase the value of parameter 75 to 2500 Default value is 2000 Do not enter a value which exceeds 2500 1 From ATS enter the ACL command PRIV ON Enter When prompted for the password press Enter Enter the command LET PAR 75 2500 Enter Enter the command INIT CONTROL Enter Enter the command PRIV OFF Enter SI SRI ee BS Repeat the homing routine and again check gripper operation Installation Guide 5 DC Servo Gripper 9903 DC Servo Gripper 6 Installation Guide 9903 PERFORMER MK2 Before you install the DC servo gripper make sure the EPROMs in your Controller B are Version 2 25 01 or later Upgrade the EPROMS if necessary Be sure to configure the controller after you have exchanged the EPROMs 1 Turn on the computer and the controller 2 Activate ATS 3 Enter the command HOME and make sure the routine is successfully completed The robot must be in the home position for the proper installation of the gripper Do not change the position of the robot after it has been homed 4 Turn off the controller 5 Using four M5x10 socket screws and a 4mm Allen key hex wrench attach the gripper adapter plate to the flange at the end of the robot arm as shown in Figure 5 6 Using four M4x10 socket screws and a 3mm Allen key attach the gripper to the adapter plate as shown in Figure 5 7 Gently connect the grippe
3. DC Servo Gripper Installation Guide for SCORBOT ER VII SCORBOT ER IX PERFORMER MK2 SCORA ER 14 Catalog 100077 Rev B SS Yi OSBO TEC e Copyright 1999 Eshed Robotec 1982 Limited Catalog 100077 Rev B March 1999 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Eshed Robotec is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice Table of Contents SCORBOT ER VII SCORBOT ER IX PERFORMER MK2 SCORA ER 14 10 14 SCORBOT ER VII Before you install the DC servo gripper make sure your Controller A contains the piggy back board with 68020 CPU and 68881 FPU floating point unit If the controller does not have these components uppgrade the EPROMs in Controller A to Version F 44 or later After you have exchanged the EPROMs you must configure the controller 1 Turn on the computer and the controller 2 Activate ATS 3 Enter the command HOME and make sure the routine is successfully completed The robot must be in the home position for the proper installation of the gripper Do not chan
4. Type close Enter Installation Guide 11 DC Servo Gripper 9903 Gripper Mounting Flange Figure 8 Connecting Gripper Cable to SCORA ER 14 DC Servo Gripper 12 Installation Guide 9903 Or from the teach pendant key in a few times Open Close If you see that the gripper does completely close adjust a system parameter 75 see instructions below The gripper has a rotation of 3270 Do not attempt to move the gripper beyond this limit At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 8 Changing System Parameter 75 Parameter 75 defines the DAC value applied to the gripper motor when opening and closing the gripper To improve gripper operation increase the value of parameter 75 to 2500 Default value is 2000 Do not enter a value which exceeds 2500 1 From ATS enter the ACL command PRIV ON Enter When prompted for the password press Enter Enter the command LET PAR 75 2500 Enter Enter the command INIT CONTROL Enter Enter the command PRIV OFF Enter SI SRI ee BS Repeat the homing routine and again check gripper operation Installation Guide 13 DC Servo Gripper 9903
5. cessively stretched during the homing abort the procedure immediately If an error occurs during the homing or if the system displays the message Home failure axis 6 adjust system parameter 75 see instructions below 12 Open and close the gripper and verify that it functions properly From ATS enter the ACL commands to open and close the gripper Type open Enter Type close Enter Installation Guide 3 DC Servo Gripper 9903 Figure 3 Attaching Gripper to SCORBOT ER IX Figure 4 Connecting Gripper Cable to SCORBOT ER IX DC Servo Gripper 4 Installation Guide 9903 Or from the teach pendant key in a few times Open Close If you see that the gripper does completely close adjust a system parameter 75 see instructions below The gripper has a rotation of 3270 Do not attempt to move the gripper beyond this limit At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 4 Changing System Parameter 75 Parameter 75 defines the DAC value applied to the
6. ge the position of the robot after it is homed 4 Turn off the controller 5 Using four M4x10 socket screws and a 3mm Allen key hex wrench attach the gripper to the gripper mounting flange at the end of the robot arm as shown in the inset in Figure 1 6 Connect the gripper cable to the electrical connector on the robot arm Make sure the connector is oriented as shown in Figure 1 7 Make sure the gripper cable is positioned as shown in Figure 2 8 Turn on the controller Press Shift F10 to activate the ATS Backup Manager 9 Load the parameter file GRP7 from the ATS directory using the options Restore PARAMETERS and RESTORE from disk F5 10 Execute the robot HOME command If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately The gripper has a rotation of 270 Do not attempt to move the gripper beyond this limit At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 2 Installation Guide I DC Servo Gripper 9903 Figure 1 Attaching Gripper to SCORBOT ER VII
7. mpletely close adjust a system parameter 75 see instructions below The gripper has a rotation of 3270 Do not attempt to move the gripper beyond this limit At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 6 Changing System Parameter 75 Parameter 75 defines the DAC value applied to the gripper motor when opening and closing the gripper To improve gripper operation increase the value of parameter 75 to 2500 Default value is 2000 Do not enter a value which exceeds 2500 1 From ATS enter the ACL command PRIV ON Enter When prompted for the password press Enter Enter the command LET PAR 75 2500 Enter Enter the command INIT CONTROL Enter Enter the command PRIV OFF Enter SI SRI ee BS Repeat the homing routine and again check gripper operation Installation Guide 9 DC Servo Gripper 9903 DC Servo Gripper 10 Installation Guide 9903 SCORA ER 14 Before you install the DC servo gripper make sure the EPROMs in your Controller B are Version 2 25 or later Upgrade the EPROMS if necessary Be sure to configure the controller after you have exchanged the EPROMs 1 Turn on the computer and the controller 2 Activate ATS 3 Enter the command HOME and make sure the routine is successfully completed The robot must be in the home position for the proper installation of the gripper Do not cha
8. nge the position of the robot after it has been homed 4 Turn off the controller 5 Using four M4x10 socket screws and a 3mm Allen key hex wrench attach the gripper to the gripper mounting flange at the end of the robot arm as shown in the inset in Figure 7 6 Connect the gripper cable to the electrical connector on the robot arm Make sure the connector is oriented as shown in Figure 7 7 Make sure the gripper cable is positioned as shown in both Figure 7 and Figure 8 Refer to A A in Figure 7 Fit the two cable clamps onto the two gripper cables Place the clamps on the flange Fit the spacer on the cable clamp screw and then tighten the screw onto the flange 8 Turn on the controller 9 Press Ctrl F3 to activate the ATS Peripheral Setup screen Set the robot gripper type definition to DC Servo Gripper and the gripper connection to Axis 5 Refer to the Controller B User s Manual and the ATS for Controller B Reference Guide for details on installation and setup 10 Execute the robot HOME command If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately If an error occurs during the homing or if the system displays the message Home failure axis 6 adjust system parameter 75 see instructions below ll Open and close the gripper and verify that it functions properly From ATS enter the ACL commands to open and close the gripper Type open Enter
9. r cable to the D9 connector on the robot arm as indicated in Figure 6 8 Make sure the gripper cable is positioned as shown in Figure 6 9 Turn on the controller 11 Press Ctrl F3 to activate the ATS Peripheral Setup screen Set the robot gripper type definition to DC Servo Gripper and the gripper connection to Axis 6 Refer to the Controller B User s Manual and the ATS for Controller B Reference Guide for details on installation and setup 12 Execute the robot HOME command If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately If an error occurs during the homing or if the system displays the message Home failure axis 6 adjust system parameter 75 see instructions below 13 Open and close the gripper and verify that it functions properly From ATS enter the ACL commands to open and close the gripper Type open Enter Type close Enter Installation Guide 7 DC Servo Gripper 9903 Adapter Plate Gripper Mounting Figure 5 Attaching Gripper to PERFORMER MK2 Figure 6 Connecting Gripper Cable to PERFORMER MK2 DC Servo Gripper 8 Installation Guide 9903 Or from the teach pendant key in a few times Open Close If you see that the gripper does co
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