Hiwin 7th Axis Kit User manual

QUICK START GUIDE
HIWIN 7th Axis Kit for UR
www.
hiwin.de

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This Quick Start Guide will get you started with your HIWIN 7th Axis Kit for UR.
We do advise to read the user-manuals before installation.
1. What is supplied
HIWIN linear axis HT-B/-S
● With belt or ballscrew drive
● Limit switches
● Possibly gearbox
● Robot adapter
● Cable chain
● Cables
● Instruction manuals for HIWIN Linear Axis HT-B/S
● Instruction manual for HIWIN Adapters for Robot Axes
Linear Motion Kit
● Control Box
● SEW servo motor & Drive
● USB with URCap software
● Instruction manuals for Linear Motion Kit (LMK)
2. LMK updates
To get the latest updates for the Linear Motion Kit:
► Visit www.cobotracks.com/LMK
► Download the latest LMK software and user manual.
3. Assembly
3.1 Mechanical
► Mount the HIWIN Linear Axis
► Mount the HIWIN Adapter for Robot Axes on the HIWIN Linear Axis
► Attach the motor to the gearbox at the HIWIN Linear Axis
► Mount the UR robot on the carriage
3.2 Electrical
From the control cabinet, the following electrical connections have to be made:
► Motor control: Orange and green cables from the cabinet to the SEW motor
connector
► Data connection: Connect the Ethernet cable coming from the cabinet to the UR
controller box, either directly or through an Ethernet network/switch.

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► Sensor connection: Connect the limit switch cables coming from the HIWIN Linear
Axis to the cabinet.
► Safety signals: Connect the bundle of wires coming from the cabinet to the safety
I/Os inside the UR Controller box.
► Grounding wire: connect the grounding wire to the application grounding pin inside
the UR controller box.
4. URCap Installation
► Instert the USB fl ash drive into the teach pendant
► Go to settings – Systems – URCaps and press the + button
► CoboTrack.urcap will be added to the robot
► Press restart to activate the URCap
5. Safety setup
The required safety settings can be set in the Installation -> safety -> I/O menu.
For safe operation it is required that:
► “confi g_in[0], confi g_in[1]” is set to “Safeguard Reset”
► “confi g_out[0], confi g_out[1]” is set to “System Emergency Stopped”
► “confi g_out[2], confi g_out[3]” is set to “Robot Moving”

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6. Network setup
When connecting the LMK to an existing network (supporting DHCP) the robot’s network
should be setup using the DHCP method shown in the following image:
The dip switches inside the LMK controller should be set as follows, and make sure DHCP is
enabled by checking, and/or adjusting parameter P785 of the LMK drive:
Def IP: .................................................................................................................... 0
AS: ......................................................................................................................... 1
When connecting the LMK directly to the UR controller box, the robot is to be setup with a
Static Address configuration. The Network detailed settings are to be set as follows:

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The dip switches inside the LMK controller should be set as follows:
Def IP: .................................................................................................................... 1
AS: ......................................................................................................................... 0
7. Configuring installation
The Linear Motion Kit installation can be configured from:
Installation -> URcaps -> Linear Motion Kit menu.
► Setup the LMK IP-address by pushing the “Find IP”-button.
► Setup Modbus starting register, change as required by other applications running on
the robot.
► Adjust the track length to match the physical track available.
► Adjust the collision threshold as required by the intended application.
► Push the “Connect”-button to start the MODBUS connection to the track.
► Reference the track by pushing and holding the reference button until the connection
status symbol turns green.
 Linear Motion Kit is now ready for use.