Ewellix LIFTKIT-0S-601 User manual

CATEGORY
MAX 2 LINES
INSTALLATION, OPERATION AND
MAINTENANCE MANUAL
LIFTKIT-0S

2
LIFTKIT-0S
2
Contents
WARNING
Please read this manual before installing, operating or
maintaining this lifting column. Failure to follow safety
precautions and instructions could cause lifting column failure
and result in serious injury, death or property damage.
Keep this manual nearby for future reference.
1.0 General information......................................................3
1.1 Information in this manual ...............................................3
1.2 Explanation of symbols and signal words ......................3
1.3 LIFTKIT designations ......................................................4
1.4 Related documents .........................................................4
1.5 Target audience...............................................................4
2.0 Safety .............................................................................5
2.1 Intended use....................................................................5
2.2 Safety elements ..............................................................5
2.3 Application notes ............................................................5
2.4 Potential risks ..................................................................5
2.5 E-Stop setup and behavior .............................................5
3.0 LIFTKIT components....................................................6
3.1 Scope of delivery.............................................................6
4.0 Mechanical installation................................................7
4.1 Tools required..................................................................7
4.2 Robot installation on the telescopic pillar ......................7
5.0 Hardware connection SBOX .......................................8
5.1 Hardware connection SBOX ...........................................8
5.2 Safety connection ...........................................................8
5.3 Schematic SBOX.............................................................9
5.4 LIFTKIT connection setup............................................. 10
6.0 Initialization of LIFTKIT before connection to robot
controller ............................................................................ 11
7.0 Ewellix LIFTKIT Component for TMow ..................12
7.1 Introduction.................................................................... 12
7.2 Command Component.................................................. 12
7.3 Appendix A - Error Codes............................................. 18
7.4 Software update SBOX ................................................. 19
8.0 Specications .............................................................20

33
1.0 General information
1.0 General information
DANGER
Indicates a dangerous situation, which
will lead to death or serious personal
injury, if the precautionary measures are
ignored.
WARNING
Indicates a dangerous situation, which
can lead to minor or moderate injury or
property damage, if the precautionary
measures are ignored.
CAUTION
Indicates a dangerous situation, which
can lead to minor or moderate injury
the precautionary measures are ignored.
NOTICE
Indicates information considered
important, but not hazard-related (e.g.
messages relating to property damage).
NOTE
Emphasizes useful hints and
recommendations as well as information
for ecient and trouble-free operation.
1.1 Information in this
manual
This manual provides important information on how to work
with the actuator (also called device or drive) safely and
eciently.
The manual is part of the device, must always be kept in 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 specied 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 of use of the de-
vice must also be complied with.
For a better representation of the circumstance of use, the
illustrations used are not necessarily to scale and may vary
from the actual design of the device.
1.2 Explanation of symbols
and signal words
Safety precautions
Safety precautions are identied by symbols and signal
words as shown to the right . The signal words indicate the
severity of the hazard and the chance it could occur.
Follow these safety precautions and act cautiously in order
to avoid accidents, personal injury and damage to property.
These installation instructions describe the setup and opera-
tion of LIFTKIT, a vertical lifting axis for collaborative robots.
Warning label
The box contains hazardous voltage. Disconnect the power
before opening the box.
Do not touch or change any wiring inside the box, except it
is stated in this manual.LIFTKIT designations

4
LIFTKIT-0S
4
1.3 LIFTKIT designations
LIFTKIT contains a telescopic pillar, a controller and addi-
tional accessories enabling easy integration with a collabo-
rative robot. Depending on LIFTKIT typekey chosen, dier-
ent congurations of these included products are possible.
1.4 Related documents
This instruction manual does not replace the operating ma-
nuals of the included products, 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 qualied technical personnel
who install and use LIFTKIT in their application. This manual
and the corresponding operating manuals should be kept
available for reference at all times.
Qualied personnel is able to carry out assigned work and to
recognize and prevent possible dangers self-reliantly due to
its professional training, knowledge and experience as well
as profound knowledge of applicable regulations.
Product group
Robot
0S any robots
Stroke*
500 mm
600 mm
700 mm
800 mm
900 mm
Electrical options
11 120 VAC / US cable
22 230 VAC / EU cable
23 230 VAC / CN cable
24 230 VAC / UK cable
25 230 VAC / CH cable
Pillar type
601 TLT
L I F T K I T – – – 0 0 –
* Longer stroke up to 1 400 mm available on request

55
2.0 Safety
2.0 Safety
This section provides safety aspects supplementary to the
safety aspects described in the relevant operating manuals
of the included devices. Failure to comply with the guide-
lines and safety instructions contained in this manual may
result in serious hazards that could cause possible serious
injury or death, or damage to the device or equipment.
The listed safety aspects must be reviewed and taken into
account in the nal application risk assessment prior to the
use of LIFTKIT.
2.1 Intended use
LIFTKIT has been designed and built for the intended use as
described in the operating manual of the pillar, with addi-
tional intended use dened as
• Lifting of a robot to extend its operating range.
Any use that extends beyond the intended use or a use dif-
ferent than the one described above is deemed misuse.
Any type of claims resulting from damage caused by misuse
are excluded.
2.2 Safety elements
The LIFTKIT has a range of safety elements built in to allow
its integration into a robot application, including safety relay
certied according ISO 13849-1, allowing STO up to PLe,
Cat. 4
2.3 Application notes
• Integration with an emergency-stop is required for its in-
tended use.
• Install emergency stop functions for the pillar and integrate
them into the safety chain of the complete system prior to
operating LIFTKIT.
• The emergency stop function has to be connected in such
a way that a disruption of the power supply or the activa-
tion of the power supply after a power disruption cannot
cause a hazardous situation for persons and objects.
• The emergency-stop systems must always be freely ac-
cessible.
2.4 Potential risks
The following risks during LIFTKIT operation have to be con-
sidered in an application specic risk assessment
• The pillar does not detect an impact automatically and
does not stop movement upon impact. This can lead to:
-Crushing of a person or an object in the path of the pillar,
causing serious injury or death or property damage.
-Dynamic impact to a person or an object causing serious
injury or death or property damage.
• It is possible that the pillar movement does not stop at the
desired position
-Movement of the robot can occur at a dierent position
than intended, causing signicant serious injury or death
or property damage.
2.5 E-Stop setup and
behavior
The LIFTKIT has two e-stop mechanisms. One is integrated
into the SBOX, the other directly into the SCU. The SCU
mechanism is software controlled and is much faster, but
only the SBOX mechanism guarantees an STO up to PLe,
Cat.4. It is recommended to integrate both mechanism into
the safety system. See the following table for comparison:
E-Stop
mechanism
Performance level
ISO 13489 -1
Stop distance Stop time
SCU Not rated 18 mm 200 ms
SBOX Up to PLe, Cat. 4 28 mm 750 ms

6
LIFTKIT-0S
6
3.0 LIFTKIT components
3.1 Scope of delivery
• 1 Lifting column TLT
• 1 Control unit SCU16/56/96
• 1 SBOX power cable EU/US/CH/CN
• 1 RS232 interface cable M/0133976
• 1 Controller I/O cable M/0133975
• 1 EHA3A operating handswitch
• 1 bottom mounting plate
• 8 M10x40 screws for mounting plates
• 4 screws M6x20
• 2 pins ᴓ 8x20 to align robot
• Quick start guide
• 1 SBOX
• 1 SBOX key
• 1 SBOX I/O cable
• 1 SBOX to controller power cable
• 1 Ethernet cable
• SBOX mounting attachments
Lifting column TLT
EHA3A operating
handswitch
Screws for
mounting plates
Control unit SCU16/56/96
Bottom mounting plate
SBOX
Controller
I/O cable
RS232 interface
cable
SBOX
I/O cable
SBOX Key Ethernet
cable
SBOX to controller
power cable
SBOX power
cable
Quick start guide
LIFTKIT
QUICK START GUIDE
LIFTKIT
Formo re details on each step, read the corresp onding installation, operation an d maintenance manual.
Pleasecheck on ewellix.com/products/telescopic-pillars/liftkit.
1. Mount interface plat es to
pillar (top and bottom)
2. Connectall cables
3. InitializeLIFTKIT (First use only!)
LIFTKIT-UR Others
3.1. Press both handswitch but tons at the same
time, until controller beeps (5sec)
3.2.Move pillar downwards until end stop (b eep)
3.3.Move pillar upwards until end stop (b eep)
4. Screw robot to pillar, install
URCapssoft ware
ewellix.com
© Ewellix
All contents of this publication are the property of Ewellix, and may not be reproduced or given to third parties (even extracts) without permission. Although great care has been taken in the
production of this catalog, Ewellix does not take any responsibility for damage or other loss resulting from omissions or typographical errors. The photo may dier slightly in appearance from the
actual product. Due to continuous improvements being made in our products, the product’s appearance and specications are subject to change without notice.
PUB NUM TC-08048-EN-March 2021
Setting up LIFTKIT
Motioncontrol
Controller
Robot
attachment
plate
Electrical
230/120V AC
24V DC
Electrical
230/120V AC
Controller
Robotcontroller
(notincluded
inLIFTKIT-0S)
Robot
attachment
plate
SBOX

77
4.0 Mechanical installation
4.1 Tools required
• Hex key size 5 and 6
• Screw driver 2 mm
4.2 Robot installation on
the telescopic pillar
Refer to the numbers in 3.1 Scope of delivery, and in the g-
ure below.
1. Take the telescopic pillar out of the box
2. Loosen and remove 4 transport screws at the bottom (1)
3. Attach the bottom mounting plate (2) using 4 M10x40
screws (screw 10) on the outer guiding tube
a. Ensure tightening torque 40 Nm on these screws
4. Fix the bottom plate securely to the ground or a frame
using at least four attachment holes on the plate (3)
a. Alternatively, 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 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)
8. Align the robot with the alignment pins and x the robot
base with the four screws provided (M6x20 (screw 11))
4.0 Mechanical installation
1
1
1. Transport screws
2. Bottom mounting plate
3. Ground xations holes
4. Top mounting plate
1
4
3
1
2

8
LIFTKIT-0S
5.0 Hardware connection SBOX
5.1 Hardware connection SBOX
1. On/O Switch
2. Fuse
3. Power In
4. Power Out
5. I/O Conenctor
6. RS232 Connector
7. Ethernet Connector
8. K1.A1
9. K2. A1
10. K1.A2
11. K2.A2
12. K1.31
13. K1.32
14. K2.31
15. K2.32
A1 14 24 32
A2 13 23
23 24
13 14
A1 A2
31 32
31
123 4 5
6
7
8
9
10
11
12
13
14
15
5.2 Safety connection
The SBOX-L-01 has two integrated safety relay with forcibly guided contacts. Their coil and feedback contacts are
wired directly to the I/O connector.

9
5.0 Hardware connection SBOX
5.3 Schematic SBOX
5.4 LIFTKIT connection setup

10
LIFTKIT-0S
10
6.0 Initialization of LIFTKIT before
connection to robot controller
LIFTKIT has to be initialized before its rst operation. For this
step, the handset included has to be connected to the
LIFTKIT's SCU controller. Follow the steps below:
1. Follow the LIFTKIT connection setup
2. If the SCU I/Os are not integrated into the emergency
stop system, an override of the emergency stop has to
be activated. Short-circuit the three wires with provided
clamp as shown in gure 2.
3. Press both handswitch buttons 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 identied and virtual
limits have been set to always stop the pillar using soft
ramps.
7. The pillar should move without beeping at its full speed.
If it does not reach its full stroke, or it continues to beep,
repeat the initialization procedure.
Fig. 2
1 - Standard operation
yellow yellow
2- Initialization
E-stop override
white white
brown/green brown/green
red red
yellow/white yellow/white

11
6.0 Initialization of LIFTKIT before connection to robot controller
7.0 Software operation
7.1 Software connection
The SBOX-L-01 is controlled by using string-based TCP/IP
commands. It can be controlled by connecting it to a PLC, a
robot or a PC using telnet communication with port 50001.
The default IP address is 192.168.1.100.
7.2 Messages
Client message
Command Parameter 1 Parameter 2 Line feed
Server message
Received Command Acknowledge Parameter 1 Parameter 2 Parameter 3 Parameter 3 Line feed
Separator and End of line character
As a separator, a comma is used. At the end of a message, a
line feed (\n) is used as an end of line character.
Parameters
Parameters are dened for each command. They must be in
the right order.
Decimals
All oat values are sent with one decimal place. More deci-
mals will be cut out.
Acknowledge
Acknowledge Parameter 1 Parameter 2 Parameter 3 Description
Command ok OK Everything is ne
Command not found NF Command is not valid
Command not allowed NA *see status *see status *see status Command is valid, but not
allowed in the current state
Wrong nbr of parameters WNP Nbr of min needed
parameters
Nbr of max possible
parameters
Wrong number of
parameters used in the
command
Out of range OOR Index of parameter Min Max At least one parameter is
out of range
Value Error VE Index of parameter Data type Wrong data type for
parameter is used
Execution Error EF Error reason
Command and parameters
are valid, but execution of
the command failed

12
LIFTKIT-0S
12
7.3 Commands
Several commands can be used to communicate with the
SBOX-L-01. Consider, that they only work in the allowed state.
Command Allowed state
moveTo_absolutePosition Ready
stop_moving Moving
get_position Connected, Ready, Moving, Error
get_stroke Connected, Ready, Moving, Error
get_status Initialized, Connected, Ready,
Moving, Error
set_virtualLimits Connected, Ready
get_virtualLimits Connected, Ready, Moving, Error
set_type* Initialized, Connected, Ready, Error
get_type Initialized, Connected, Ready,
Moving, Error
get_typesAvailable Initialized, Connected, Ready,
Moving, Error
* Require restart. Virtual limits must be set again after changing the type.
Get status
For getting the actual status from the SBOX-L-01 send:
“get_status\n”
As a return you get the actual status in parameter one and a
cause in parameter two, if the state is not READY or
MOVING.
There are six states, the SBOX-L-01 can be in:
Error
Error Lost
connection
Power on
All instances
created Storage
le read
Connection to Kit
established
Homing done
All parameters
valid
Position
reached
Start moving
No Error
Bootup
Initialized
Connected
Ready
Moving

13
7.0 Software operation
Parameter 1 Parameter 2 Description
INITIALIZED Cause Liftkit is not connected to the SBOX-L-01 or no connection is established
CONNECTED Cause Liftkit is connected, but no homing is performed, or Pillar is not valid
READY Liftkit is ready to use, but no movement is performed
MOVING Liftkit is moving to the desired position
ERROR Cause An error appeared
NOTE: After using the STO safety function while the Liftkit is
not moving, the SBOX-L-01 will stand in READY state for a few
seconds, because of the capacitors in the Liftkit controller.
Get stroke
For getting the stroke of the Liftkit send: “get_stroke\n”
It returns the max. stroke in [mm] of the Liftkit as a oat num-
ber with one decimal place.
E.g.: “get_stroke,OK,600.0”
Get position
For getting the position of the Liftkit send: “get_position\n”
It returns the max. stroke in [mm] of the Liftkit as a oat num-
ber with one decimal place.
E.g.: “get_position,OK,250.2”
Get virtual limits
For getting the virtual limits of the Liftkit send:
“get_virtualLimits\n”
It returns the minimum and maximum virtual Limit in [mm] of
the Liftkit as oat numbers with one decimal place.
E.g.: “get_ virtualLimits,OK,0.0,600.0”
Set virtual limits
For getting the virtual limits of the Liftkit send:
“set_virtualLimits,[min],[max]\n”
The limits are in [mm] as a oat number with maximum of
one decimal place.
E.g.: “set_ virtualLimits,50.5,450.0” or “set_
virtualLimits,40,500”
If everything is correct, it returns “set_virtualLimits,OK”
Move to absolute position
For moving to an absolute position of the Liftkit send:
“moveTo_absolutePosition,[position]\n”
The position is in [mm] as a oat number with one decimal
place.
E.g.: “moveTo_absolutePosition,120.5” or
“moveTo_absolutePosition,140”
If everything is correct, it returns
“moveTo_absolutePosition,OK”
NOTE: This is an asynchronous command. The response
indicates that the movement is started. To know when the
desired position is reached or if the pillar really moves, the
commands get_position and get_status needs to be used.
Stop moving
For stopping the movement of the Liftkit send:
“stop_moving\n”
If everything is correct, it returns “stop_moving,OK”
Get type
For getting the actual selected type of the Liftkit send:
“get_type\n”
It returns the actual type of the Liftkit.
E.g.: “get_type,OK,LIFTKIT-601”
Get types available
For getting all available types of the Liftkit send:
“get_typesAvailable\n”
It returns all available types of the Liftkit. These are
LIFTKIT-601 and LIFTKIT-00 for the TLT and LIFTKIT-602 for
the CPMT. More types could be followed in the future.
E.g.: “get_typesAvailable,OK,LIFTKIT-601,LIFTKIT-602,LIFT-
KIT-00”
Set type
For setting the type of the Liftkit send: “set_type,[type] \n”
E.g.: “set_type,LIFTKIT-601”
If everything is correct, it returns “set_type,OK”
NOTE: After setting a new type, the SBOX-L-01 needs to be
restarted and the virtual limits must set again.

14
LIFTKIT-0S
14
7.4 Software update
SBOX
Software updates can be done by ashing a new image to
the controller SD card.
1. Remove all cables attached to the SBOX
2. Unplug the USB and the ethernet connector from the
controller:
3. Move controller to the front plate:
4. Remove the SD card using a small tool like a pliers
5. Download and install one of these tools:
-Raspberry imager, from https://www.raspberrypi.org/
downloads/
-balenaEtcher, from https://www.balena.io/etcher/
6. Copy Image on SD card:
6.1. Place SD card into your laptop
6.2. Do not format SD card
6.3. Start Raspberry imager or balenaEtcher
6.4. Choose Image
6.5. Select SD Card
6.6. Start writing process
7. Put SD card back into Controller following the steps 1 – 4
in reverse.

15
7.0 Software operation
7.5 IP address
The SBOX-L-01 uses a static IP address. The default ad-
dr ess is 192.168.1.10 0.
Changing the IP address
1. Create a le called “ip_changer.conf” on your PC
2. Insert the following content:
static ip_address=192.168.1.100/24
static routers=192.16 8.1.1
static domain_name_servers=192.168 .1.1
3. Change the IP addresses to your needs. Make sure that
the “/24” stays behind the static IP address.
4. Put the le on an USB Stick.
5. Remove all cables from the SBOX-L-01
6. Open the Box
7. Insert USB Stick into the controller
8. Close the Box
9. Plug in the power cable into the SBOX-L-01
10. Switch on the SBOX-L-01
11. Wait 5 Minutes
12. Switch o the SBOX-L-01
13. Remove all cables from the SBOX-L-01
14. Open the Box
15. Remove USB Stick
16. Close Box
17. Connect all cables again
18. If everything worked, the USB Stick has the following
empty le on it:
update_ip_address_successfull_from_”Name of the
USB Stick”

16
LIFTKIT-0S
16
8.0 Specications
44
Vertical axis for collaborative robots
Linear axis for collaborative
robots LIFTKIT-0S
Unit LIFTKIT-0S-601
Pillar type -TLT
Performance Data
Max. Push load N 1 500
Max. Pull load N 0
Max. dynamic moment Nm 210
Max. static moment Nm 3 000
Max. linear speed mm/s 80
Duty cycle - 10% (20% at 500N)
Mechanical Data
Screw type -Acme screw
Stroke range mm 500 - 900
Retracted length (software controlled) mm Stroke/2 + 275
Weight @ 0 mm stroke kg 21
Δ weight per 500 mm stroke kg 1,7
Robots compatibility - Any
Cable management - Threads on pillar and interface
-plate to attach cable management
Electrical
Input Voltage/Current - 120 VAC / 6,5 A
230 VAC / 3,3 A
Input frequency Hz 50-60
Input Fuse A10
I/O voltage -24 VDC
I/O current -max. 10 A not protected
Emergency stop - STO up to PLe, Cat.4
Communication
Control interface - TCP/IP
Positioning, repeatability mm ± 1
Accessible positions -any
Feedback - Position & Status
Soft start and stop - Implemented for smooth operation
Environment
Type of protection - IP40 in operational state
Ambient temperature °C +10 to +40
Max. humidity %85
Altitude m2 000
Vibration -Stationary industrial environment
Technical data
Operating range extension
• Vertical lifting of the cobot by up to
900 mm (1 400 mm on request) with
compact retracted height
• Robust pillar design for industrial use,
vibration free motion and virtually
maintenance free
Plug-and-play solution
• Hardware interface compatible with
any robots
• LIFTKIT control through TCP/IP
Cost savings and higher
productivity
Cobots combined with Ewellix LIFTKIT
provide a cost-eective solution to up-
grade an existing assembly shop, mov-
ing from a manual handled to a fully
automatized line.

17
8.0 Specifications
5
LIFTKIT-0S
5
Dimensional drawing
TLT telescopic pillar
180
70 140
200
180
146
4×∅11 mm
8×∅6,3 mm
15
Stroke ±4
30 mm deep
Retracted
length ±4
(without
mounting
plates)
Length
2 300 mm
146
163
129
3×M5
12 mm deep
Holes also on
opposite side
4×M10
30 mm deep
4×M10 101
27,6
40
40
340
141
5,2
13,5
50,5
75
75
360
365
87
Controller
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 deep
Holes also on
opposite side
4×M10
30 mm deep
4×M10 101
SBOX
260
4 - Ø8,5
(Control Unit
Mount Hole)
Digital IO
Power switch
Fuse
Power In
Power Out (SCU)
TCP-IP
(cobot)
RS232
(SCU)
160
30,9
300
200
46,2
150
27,3

ewellix.com
© Ewellix
All contents of this publication are the property of Ewellix, and may not be
reproduced or given to third parties (even extracts) without permission.
Although great care has been taken in the production of this catalog, Ewellix
does not take any responsibility for damage or other loss resulting from
omissions or typographical errors. The photo may dier slightly in appearance
from the actual product. Due to continuous improvements being made in our
products, the product’s appearance and specications are subject to change
without notice.
PUB NUM TC-08046-EN-February 2021