Ewellix LIFTKIT-UR User manual

CATEGORY
MAX 2 LINESINSTALLATION, OPERATION AND MAINTENANCE MANUAL
LIFTKIT-UR

2
LIFTKIT-UR
2
Quick start guide
For more details on each step, read the full instructions
1. Mount interface plates to pillar
(top and bottom)
2. Connect all cables
3. Initialize LIFTKIT (First use
only!)
Without UR safety I/O
Latest URCaps version ⮑ www.ewellix.com
Setup E-stop in safety I/O settings Setup communication settings
3.1. Press both handswitch buttons
at the same time, until control-
ler beeps (5sec)
3.2. Move pillar downwards until
end stop (beep)
3.3. Move pillar upwards until end
stop (beep)
4. Screw robot to pillar, install
URCaps software
5.

33
Contents
1.0 General information......................................................4
1.1 Information in this manual ...............................................4
1.2 Explanation of symbols and signal words ......................4
1.3 LIFTKIT designations ......................................................5
1.4 Related documents .........................................................5
1.5 Target audience...............................................................5
2.0 Safety .............................................................................6
2.1 Intended use ....................................................................6
2.2 Functional safety.............................................................6
2.3 Safety mechanisms.........................................................6
2.4 Application notes ............................................................6
2.5 Potential risks..................................................................7
2.6 Stopping behavior...........................................................7
3.0 LIFTKIT components....................................................8
3.1 Scope of delivery.............................................................8
3.2 System requirements......................................................8
4.0 Mechanical installation................................................9
4.1 Tools required..................................................................9
4.2 Robot installation on the telescopic pillar ......................9
5.0 Electrical connection .................................................10
5.1 Electrical connection..................................................... 10
6.0 Initialization of LIFTKIT before connection to robot
controller ............................................................................ 11
WARNING
Please read this manual before installing, operating or
maintaining this telescopic pillar. Failure to follow safety
precautions and instructions could cause telescopic pillar failure
and result in serious injury, death or property damage. Keep this
manual nearby for future reference.
7.0 Software Installation ..................................................12
8.0 Software operation.....................................................13
8.1 LIFTKIT installation........................................................ 13
8.1.1 Safety I/O setup on UR controller ........................... 13
8.1.2 Communication....................................................... 13
8.1.3 LIFTKIT setup.......................................................... 13
8.1.4 Position setup.......................................................... 13
8.2 Accessing LIFTKIT positions........................................ 14
8.2.1 Insert a URCaps command .................................... 14
8.2.2 Access a LIFTKIT position ..................................... 14
8.2.3 Access positions in script ...................................... 14
9.0 Troubleshooting .......................................................... 15
10.0 Specications............................................................ 16

4
LIFTKIT-UR
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.

5
1.0 General information
Product group
Robot
UR Universal Robot
Stroke *
500 mm
600 mm
700 mm
800 mm
900 mm
Electrical options
00 24 VDC
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 24 VDC
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.
L I F T K I T – – – 0 0 –
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.
* Longer stroke up to 1 400 mm available on request

6
LIFTKIT-UR
6
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 Functional safety
The LIFTKIT system and its components TLT and SCU, are
not functional safety systems compliant with EN ISO
13489-1 or IEC 62061. To integrate LIFTKIT into a functional
safety chain, external safety devices have to be added to the
overall system.
2.3 Safety mechanisms
The following measures have been integrated in LIFTKIT to
reduce the risk of harm or damage
• The individual components have been designed and UL
certied according to IEC 60601-1 – Safety of medical de-
vices.
• The pillar has an integrated mechanical brake that pre-
vents back-driving of the pillar in case of power loss or
motor failure.
• A backup nut is installed to prevent a sudden collapse of
the pillar in case of failure or wear of the nut.
• Pinching risk between the tube sections of the pillar and
the UR attachment plate is minimized. In retracted posi-
tion, the minimum gap is 40 mm.
• The LIFTKIT's SCU controller has to be connected to the
Universal Robot (UR) safety I/O connection to operate. Ac-
tivation of the UR emergency stop will trigger a stop of the
LIFTKIT's SCU controller. If the UR system is turned o,
LIFTKIT cannot be operated.
• The LIFTKIT's controller checks the RS232 connection to
the UR controller. If this connection is lost, the pillar move-
ment is automatically stopped.
• Stopping or failure of the UR software triggers a stop sig-
nal to the LIFTKIT's controller.
2.4 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.
• To integrate LIFTKIT into a functional safety system with a
STO (Safe Torque O) safe condition, an external safety re-
lay has to be connected to the LIFTKIT controller power
supply, triggered by a functional safety function, such as
the UR safety I/O.

7
2.0 Safety
7
2.5 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 and the UR control software does not rec-
ognize this
-Movement of the robot can occur at a dierent position
than intended, causing signicant serious injury or death
or property damage.
2.6 Stopping behavior
LIFTKIT stops dierently depending on the stop mechanism
triggered. The following four stopping behaviors can occur:
Stopping mechanism Stop distance Stop time
Power line to SCU controller is cut by safety relay (Category 0,
LIFTKIT de-energized, uncontrolled stop) 28 mm 750 ms
Emergency stop button pressed on the Universal Robots system
(Category 1, LIFTKIT energized, uncontrolled stop) 18 mm 200 ms
Software triggered stop if the robot stops due to an impact or the
serial connection is damaged tbc tbc
Software triggered stop in normal operation. LIFTKIT energized,
controlled stop using speed ramp down 50 mm 800 ms
Test repo r t LT V180157

8
LIFTKIT-UR
8
3.1 Scope of delivery
1. 1 Telescopic pillar TLT
2. 1 Control unit SCU16/56/96
3. 1 Mains cable SCU EU/US/CH/CN
4. 1 RS232 interface cable M/0133976
5. 1 Adapter cable RS232 – USB M/0133972
6. 1 Cable for UR safety I/O connection M/0133975
7. 1 EHA31 operating handswitch M/0133980 (UR version)
8. 1 UR attachment plate M/0133933*
9. 1 bottom mounting plate M/0133932
10. 8 M10x40 screws for mounting plates M/0102913
11. 8 screws M6x20 for UR3 robot / bottom plate M/0111860
12. 4 screws M8x25 for UR5/UR10/UR16 robot M/0111907
13. 4 screws M6x30 for UR3e robot M/0112009*
14. 2 pins ᴓ 6x20 mm to align UR3 robot M/0207203
15. 2 pins ᴓ 8x20 to align UR5/UR10/UR16 robot
M/0207200*
16. 1 USB stick with URCaps software M/0133981*
17. 1 Quick start guide
3.0 LIFTKIT components
3.2 System requirements
• Robot compatibility: UR3, UR5, UR10, UR16 e-Series
• UR controller: minimum CB 3.1 is required for the URCaps
plugin
• Polyscope: minimum 3.6
• Power input (max) depending on the SCU power version
chosen:
-24 VDC / 30 A
-120 VAC / 6,5 A
-230 VAC / 3,3 A
1. Telescopic
pillar
7. Handswitch
2. Controller
8. UR attachment plate 9. Bottom xation
plate
17. Quick start guide
16. UR software plugin
5
12 10
14/15
11/13
3 4 6
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

9
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
gure 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 UR 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) (ᴓ 6 mm for
UR3 (pin 14), ᴓ 8 mm for UR5/10/16 (pin 15))
8. Align the robot with the alignment pins and x the robot
base with the four screws provided (M6x20 (screw 11)
for UR3, M6x30 (screw 13) for UR3e, M8x25 (screw 12)
for UR5/10/16)
4.0 Mechanical installation
1
1
1. Transport screws
2. Bottom mounting plate
3. Ground xations holes
4. Top mounting plate
5. UR alignment pins
1
4
3
5
1
2

10
LIFTKIT-UR
5.1 Electrical connection
Refer to 3.1 Scope of delivery, and in the gure 1.
1. Connect the two DIN8 plugs of the motor cables of the
telescopic pillar in motor port (1) and (2) of the SCU
controller
2. Connect the mains cable (cable 3) to the SCU controller
to port (11)
3. Connect the RS232 cable (cable 4) to port (12)
4. Connect the EHA31 handswitch (handswitch 7) to port
(10) (handswitch only needed to initialize the system or
when troubleshooting)
5. Connect the UR safety I/O connection cable (cable 6) to
port (7)
6. Connect the RS232 cable (cable 4) to the USB adapter
(cable 5)
NOTE
If connecting LIFTKIT for the rst time, LIFTKIT has to be
initialized. Perform the initialization routine now, as described in
Chapter 6, before continuing with the next steps!
7. Plug in USB adapter cable to UR controller USB port
(13)
5.0 Electrical connection
8. Attach the emergency stop cables to a safety I/O on the
UR controller (14)
NOTE
The safety I/O has to be congured in the Safety menu of the
Installation tab.
Follow the instructions in Chapter 8.
9. Close SCU with SCU cover
Fig. 1

11
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 electrical connections steps 1-6 described in
Chapter 5 – Electrical connection
2. If the SCU is not connected to the UR controller, or the
UR controller is switched o, an override of the emer-
gency stop link to UR has to be activated. Short-circuit
the three wires with the provided clamp as shown in the
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
6.0 Initialization of LIFTKIT before
connection to robot controller

12
LIFTKIT-UR
7.0 Software Installation
Make sure the newest URCaps version is used at all times.
Download the current version on ewellix.com.
The software screencaps shown use the e-Series design.
Functionality on the CB-Series is similar but might have a
dierent appearance.
To install the LIFTKIT's URCaps, follow the described steps.
1. Go to the setup screen by pressing the top right corner
hamburger menu
2. Insert the LIFTKIT's USB Drive into the USB port at the
teach pendant
3. In the left side menu, choose System - URCaps. Then,
press ‘+’, choose the URCaps le from the LIFTKIT's
USB drive, then press ‘Restart’

13
8.0 Software operation
The LIFTKIT's URCaps enables movement of LIFTKIT di-
rectly in the UR Polyscope environment. When going into
programming mode in Polyscope, the LIFTKIT's setup can
be accessed in the installation tab. The movement of
LIFTKIT can then be accessed directly in the Program tab.
8.1 LIFTKIT installation
The LIFTKIT's installation screen (shown below) allows to set
up three aspects of the LIFTKIT's operation: 1.
Communication, 2. Type of LIFTKIT selection, 3.
Programming of accessible positions.
8.1.1 Safety I/O setup on UR controller
To activate LIFTKIT, the safety I/O has to be congured cor-
rectly in the UR environment. In the Safety section of the in-
stallation tab, set the relevant safety output to ‘System
Emergency Stopped’.
8.1.2 Communication
• Serial interface: Select the serial interface on the UR con-
troller that enables the connection. In case other devices
are connected, select a free serial port.
• Daemon port: Select a daemon port that is not used by
another URCaps. If the same port is used for dierent
URCaps, communication problems might occur and
LIFTKIT cannot operate normally.
8.1.3 LIFTKIT setup
Pillar version: Select the correct pillar version from the
drop-down menu. The important selection criteria are the
last three digits, i.e. LIFTKIT-UR-601. By selecting a wrong
conguration, a normal operation of LIFTKIT cannot be
guaranteed! If the pillar has been initialized correctly, the
maximum stroke accessible is displayed.
Check that this value corresponds with the product
connected.
8.1.4 Position setup
Up to ten positions of LIFTKIT can be set up to be accessi-
ble in the UR programming mode. To add a position, enter
the value of the position in mm and press ‘Add’. An addi-
tional position is added to the list of positions.
Similarly, positions can be deleted or updated.
The 0 mm position (fully retracted) is the default and cannot
be deleted. Note: Save the installation le to keep the se-
lected positions after a restart of the UR system.
Note: If more positions are required, a function call is availa-
ble to access any position directly (see instructions later in
this chapter).
8.0 Software operation

14
LIFTKIT-UR
8.2 Accessing LIFTKIT
positions
To access the programmed positions in the UR motion pro-
gram, a URCaps command must be inserted in the program
sequence, then the position can be accessed in this ‘LIFT’
command.
8.2.1 Insert a URCaps command
In the Structure tab (e-Series: left menu bar), choose
URCaps and select LIFTKIT.
8.2.2 Access a LIFTKIT position
To access a LIFTKIT position, select the LIFT command in
the Robot Program and select the Command tab.
From the drop down menu, the set up positions can be se-
lected. After selection, this position is automatically set at
this command point.
To move to this position immediately, keep the ‘Move to
Position’ button pressed until the position is reached.
8.2.3 Access positions in script
The current position of LIFTKIT can be accessed with a
function call to
var := get_liftkit_position()
To set a position of LIFTKIT, use a function call:
var := move_liftkit(x)
where x is the position in mm

15
9.0 Troubleshooting
9.0 Troubleshooting
Malfunction Possible cause What to do
The pillar does not move Control unit not operational Check main power to control unit
Ensure that the RS232 cable is securely connected to the SCU and
the UR USB port
Ensure that the emergency stop link to the UR controller is securely
connected to the SCU and the UR safety IO
Emergency stop must be released.
Robot not running Turn on robot
Obstacle in stroke area of the pillar Remove all obstacles in the stroke area
Motor has stopped due to high
temperature
Observe duty cycle in technical specication. Wait 20 minutes and
try again.
The communication port of the
URCaps daemon (Installation tab)
interferes with another URCaps
Change the port to an alternative number and try again
The serial connection is not connected
in the URCaps
Check all cable connections and re-start the robot controller.
The pillar stops before
reaching its maximum
stroke
Control unit cuts of power Ensure that the centric and excentric load does not exceed the load
limits given in the specication of the pillar.
Obstacle in the stroke area of the
device
Remove all obstacles in the stroke area
The pillar moves at half
the speed and the SCU
controller beeps
Controller is not initialized Perform initialization procedure described in this manual

16
LIFTKIT-UR
10.0 Specications
44
Vertical axis for collaborative robots
Linear axis for collaborative
robots LIFTKIT-UR
Unit LIFTKIT-UR-6 01
Pillar type -TLT
Performance Data
Max. Push load N 1 500
Max. Pull load N 0
Max. dynamic moments 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 - UR3, UR5, UR10, UR16, e-Series
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
24 VDC / 10 A
I/O voltage -24 VDC
Emergency stop - Connection to UR safety I/O
Communication
Control interface - URCaps plugin compatible with CB3.1 / Polyscope 3.6 or higher
Positioning, repeatability mm ± 1
Accessible positions -any
Feedback -Position feedback via URCaps
Soft start and stop - Implemented for smooth operation
Software control -URcap
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
UR3, UR5, UR10 and UR16 robots
• Universal Robots+ certied product
• Software control integrated with UR
controller (URCaps) for easy motion
programming
• Basic control option with digital I/O
for all cobot manufacturers
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
10.0 Datasheet
5
LIFTKIT-UR
5
Dimensional drawing
TLT telescopic pillar
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
20
40
83,5
27,6
40
40
8×M5
11 mm deep
340
141
5,2
13,5
50,5
75
75
360
365
87
Controller
Robot attachment plate
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

ewellix.com
© Ewellix
All contents of this publication are the property of Ewellix, and may not be re-
produced 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 ty-
pographical errors. The photo may dier slightly in appearance from the actual
product. Due to continuous improvements being made in our products, the prod-
uct’s appearance and specications are subject to change without notice.
PUB NUM TC-08038/1-EN-February 2021
UR, Universal Robots and Universal Robots logo are trademarks of the Universal
Robots A/S