Intelitek Scorbot-ER 9 Pro User manual

DC Servo Gripper
Installation Guide
for
Scorbot-ER 9 Pro
Scorbot-ER 14 Pro
Catalog # 100077 Rev. D

Installation Guide i DC Servo Gripper
Copyright © 2014, Intelitek Inc.
Catalog # 100077 Rev. D
January, 2014
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. Intelitek 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.
Intelitek 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.
INTELITEK INC.
444 East Industrial Park Drive
Manchester NH 03109-537
Tel: [phone]
Fax: [phone]
Website: www.Intelitek.com

Installation Guide iii DC Servo Gripper
Table of Contents
Installation for SCORBOT-ER 9 Pro…………………………………………………………….……………
1
Installation for SCORBOT-ER 14 Pro……………………………………………………..…..…………..
3

Installation Guide 1 DC Servo Gripper
Installation for SCORBOT-ER 9 Pro
To install the DC servo gripper, follow the procedure below:
1. Turn on the computer and the USB-Pro controller.
2. Start Scorbase Pro or Robocell Pro as relevant.
3. Enter On-line mode by selecting Options | On-line from the menu bar.
4. Click the Search Home button and verify that the routine is successfully completed.
Note:
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.
5. Turn off the controller.
6. Attach the gripper to the gripper mounting flange at the end of the robot arm using four
M4x10 socket screws and a 3mm Allen key (hex wrench), as shown in the inset in Figure 1.
Figure 1: Attaching Gripper to SCORBOT-ER 9Pro

DC Servo Gripper 2 Installation Guide
7. Connect the gripper cable to the electrical connector on the robot arm.
8. Ensure that the connector is oriented as shown in Figure 1 and that the gripper cable is
positioned as shown in Figure 2.
Figure 2: Connecting Gripper Cable to SCORBOT-ER 9Pro
9. Turn on the controller.
10. Enter On-line mode.
11. Select Options | Hardware setup from the menu bar.
12. Select Servo from the Gripper Type drop-down menu.
13. Click OK.
14. Refer to the Controller USB-Pro User Manual and the Scorbase for ER 9Pro/ER 14Pro User
Manual for details on installation and setup.
15. Click the Search Home button.
Note:
If the gripper cable becomes entangled or excessively stretched while homing, abort
the procedure immediately.
16. Select File | New Project from the menu bar.
17. Click on the Open Gripper and Close Gripper buttons in the Manual
Movement dialog box to open and close the gripper to verify that it functions properly.
Note:
The Teach Pendant can also be used to open and close the gripper by keying in
Open/Close several times.

Installation Guide 3 DC Servo Gripper
Installation for SCORBOT-ER 14 Pro
To install the DC servo gripper, follow the procedure below:
1. Turn on the computer and the USB-Pro controller.
2. Start Scorbase Pro or Robocell Pro as relevant.
3. Enter On-line mode by selecting Options | On-line from the menu bar.
4. Click the Search Home button and verify that the routine is completed successfully.
Note:
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.
5. Turn off the controller.
6. Attach the gripper to the gripper mounting flange at the end of the robot arm, using four
M4x10 socket screws and a 3mm Allen key (hex wrench), as shown in the inset in Figure 3.
Figure 3: Attaching Gripper to SCORBOT-ER 14Pro

DC Servo Gripper 4 Installation Guide
7. Connect the gripper cable to the electrical connector on the robot arm.
Figure 4: Connecting Gripper Cable to SCORBOT-ER 14 Pro
8. Fit the two cable clamps onto the two gripper cables.
9. Place the clamps on the flange.
10. Fit the spacer on the cable clamp screw, and tighten the screw onto the flange.
11. Turn on the controller
12. Enter On-line mode.
13. Select Options | Hardware setup from the menu bar.
14. Select Servo from the Gripper Type drop-down menu.
15. Click OK.
16. Refer to the Controller USB-Pro User Manual and the Scorbase for ER 9Pro/ER 14Pro User
Manual for details on installation and setup.
17. Click the Search Home button.
Note:
If the gripper cable becomes entangled or excessively stretched while homing, abort
the procedure immediately.
18. Select File | New Project from the menu .
19. Click on the Open Gripper and Close Gripper buttons in the Manual
Movement dialog box to open and close the gripper to verify that it functions properly.
Note:
The Teach Pendant can also be used to open and close the gripper by keying in
Open/Close several times.
The gripper has a rotation of  270°. Do not attempt to move the gripper beyond this
limit.