Magswitch CoBot SmartMagGrip E30 URCap User manual

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CoBot SmartMagGrip E30 URCap Manual
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Table of Contents
S. No.
Topic
Page Number
1
Magswitch Gripper URCap
Installation
2
2
Powering Magswitch Gripper from
the CoBot
3
3
Configuring TCP/Payload
4
4
Magswitch Gripper URCap
Installation Interface
7
5
Magswitch Gripper Calibration
11
6
Tool Orientation
12
7
Calibration Methods
13
8
Calibration Steps in Detail
14
9
Testing Calibration –Configuration 1
–Multi-Step Learn
22
10
Testing Calibration –Configuration 2
–Multi-Step Learn
24
11
Testing Calibration –Configuration 3
–Simple Learn/Multi-Step Learn
26
12
Using Magswitch Gripper and
Magswitch Power Program Nodes
27
CoBot SmartMagGrip E30 URCap Manual

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Magswitch Gripper URCap Installation
Open the settings menu and go to URCaps under the system tab.
Fig 1: URCap Settings Menu
Select the “+”icon and load Magswitch Gripper URCap from the flash drive plugged into the cobot. Once the URCap is
loaded, restart the system and verify that the Magswitch URcap is present under Active URCaps, this indicates
successful installation.
Fig 2: Successful Installation of Magswitch Gripper URCap
For more detailed steps please refer the following link: Universal_Robots_ROS_Driver/install_urcap_e_series.md at
master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub

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Powering Magswitch Gripper from the Cobot
To enable power and configure gripper using RS485 Modbus protocol, go to the installation tab, select Tool I/O and
select MagswitchGripper from the Controlled by drop down menu.
Fig 3: Selecting Magswitch Gripper from Tool I/O
Fig 4: Magswitch Gripper Connected to Cobot
Note: If experiencing issues involving current, a possible solution would be to select “Dual Pin Power”, see red
arrow on Fig 4.

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Configuring Tool Center Point (TCP)/ Payload
Select Installation then under the General tab select Payload. Set Payload to configure the tool Payload (shown below in
Figure 5). Under the drop-down menu, select the configuration that pertains to desired payload (shown below in Figure
6). Note that this also selects the tool’s center of gravity (COG). Detailed information about configurations can be found
on figure 10.
Fig 5: Dropdown menu for configuring tool payload

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Fig 6: Dropdown menu for configuring tool payload
Another way to set payload would be under the Installation tab. Select general and then TCP to configure the TCP (shown
below in Figure 7). Under the drop-down menu, select the configuration that pertains to desired tool configuration.
Fig 7: Dropdown menu for configuring TCP
Under the Program tab, select basic and then Set Payload to configure the tool Payload (shown below in Figure 8). Under
the drop-down menu, select the configuration that pertains to desired payload.
Fig 8: Dropdown menu for configuring tool payload

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Fig 9: Magswitch gripper accessories
Fig 10: Configuration types for tool
Configuration Type A is when the eight-pinned connector on the wrist is aligned to the cable exit port on the CoBot
SmartGrip E30 using the flat mount interface. Type B is when the 45° mounting plate is used and the cable exit port is
closest to the eight-pinned connector. Type C also requires the 45° mounting plate but reversed tool mounting from type
B.

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Magswitch Gripper URCap Installation Interface
To enter the gripper URCap installation, go to URCaps and select Magswitch Gripper. When the gripper is powered off
or there is an issue with the connection, all the buttons will be grayed out as shown in the image below.Note that URcap
1.1.6 is only compatible on Polyscope 5.11 and above.
Fig 11: Magswitch Gripper Installation URCap when gripper is powered off
With the gripper powered on, the Home Magswitch button is active. The blue and green LEDs on the gripper will begin
flashing to indicate that the gripper is not homed.
Fig 12: Magswitch Gripper Installation URCap when gripper is powered on

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Once the gripper is homed, the rest of the buttons are no longer grayed out and the gripper can now be controlled from
the buttons on the installation interface. The green indication LEDs indicate the various output signals sent by the
gripper to the CoBot. The gripper can only be homed once after turning on. It needs to be rehomed if power to the tool
is lost.
Fig 13: Magswitch Gripper Installation URCap after gripper is homed
The below table shows functionality of various buttons and signals on the Magswitch Gripper Installation UI.
Type (from
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Input
Home Magswitch
Sends command to home
Magswitch Gripper
**The gripper can only be homed
once after turning on
Button
Input
Turn Magswitch Full On
Turn on Magswitch to 100% ON
Button
Input
Turn Magswitch Full Off
Turn off Magswitch to 0% ON
Button
Input
Requested Position
Can be set to a position between
0 –100.
Input Box
Input
Turn Magswitch Partial On
Sends command to turn magnet
on to Requested Position
Button

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Type (from
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Input
Enable Auto Home
If checked the gripper will home
automatically at the beginning of
the program if it was not homed
previously
Check Box
Input
Simple Learn
Send command to perform
simple learn
Button
Input
Multi Step Learn
Send command to perform multi
step learn
Button
Input
Cancel Learn
Sends command to cancel
calibration
Button
Input
Learned Part
Sends command to change
calibration storage option
(Calibration 0-3)
Drop Down Box
Input
Sensitivity
Sends command to change
magnet sensitivity of part present
Default = 0
Accepts values from -20 to 50 as
input.
“– “is more sensitive and
decreases the acceptable range.
“+”is less sensitive and
increases the acceptable range.
Input Box
Output
Magswitch Ready
Indicates if Magswitch is Homed
Indication LED
Output
Magswitch Full On
Indicates if Magswitch is turned
on at 100% position
Indication LED
Output
Magswitch Full Off
Indicates if Magswitch is turned
off at 0% position
Indication LED
Output
Magswitch Partial On
Indicates if Magnet is partially on
–2%-99% ON
Indication LED

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Type (from
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Output
Actual Position
Indicates actual position of the
Magnet, value can be from 0 to
100%
Output Box
Output
Learn Complete
Indicates if gripper is calibrated
Indication LED
Output
Learn Step
Indicates calibration step,
0 = not in calibration
1 = waiting for best circuit
2 = waiting for worst circuit
3 = waiting for south pole
4 = waiting for north pole
Output Box
Output
Learn Error
Indicates error while performing
calibration. Magnet was not fully
on when trying to teach
calibration step.
Indication LED
Output
Part Present
Indicates proper Part Present
within range of selected learned
part
Indication LED
Output
N Pole On
Indicates if North Pole is on
Indication LED
Output
S Pole On
Indicates if South Pole is on
Indication LED

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Magswitch Gripper Calibration
Calibration Fundamentals
The gripper can be calibrated from the Magswitch Gripper Installation Interface, using Simple learn or Multi-Step learn.
There are four calibration steps required to fully define magnetic field interaction between the tool and part and
distinguish whether that interaction is sufficient or insufficient based on the user’s configurations. Position of the tool’s
north and south poles relative to part edges and their proximity to the part during calibration steps govern whether poles
are in adequate contact and whether the part is “present.”
Learn complete indication LED will turn on when the tool is successfully calibrated for a particular calibration storage
option (0-3).
North Pole indication LED will turn on only when the North Pole Position is in equal to or better contact than the stored
North Pole Position.
South Pole indication LED will turn on only when the South Pole position is in equal to or better contact than the stored
South Pole Position.
North Pole, South Pole and Part Present indication LEDs will turn on simultaneously only when the contact quality is
between Limiting Position 1 and Limiting Position 2 and the North and South pole positions are in equal to or better
contact than their respective stored positions.
Figure 14: Step 1-4 Calibration Positions
There are four separate calibration profiles which can be configured by following the calibration instructions in the next
steps. It is important to select the calibration profile from the Learned Part drop down menu to values 0, 1, 2, or 3
before entering calibration mode to ensure a different calibration profile is not overwritten.
11. North Pole
Calibrate
9. South Pole
Calibrate
0.2mm air gap if applicable
5. Limiting Position 1
7. Limiting Position 2
Target Part
Target Part

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Tool Orientation
Fig 15: Tool Orientation for Magswitch CoBot SmartMagGrip E30
NOTE: Magnet Housing at the North Pole side of the tool has N marked on it
NOTE: North Pole side of the tool is on the same side as the LED

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Calibration Methods
This section has a brief description of the two calibration/learning methods for the CoBot SmartMagGrip E30 tool. The
next section contains detailed steps for these two methods. Below are a few simple steps. Detailed steps can be found
in the next section of the manual.
Multi-Step Learn/Calibration
Select Learned Part from Drop Down Menu
1. Turn magnet “ON” fully and issue Multi-Step Learn command. The learning step will be set to 1.
2. Turn magnet “ON” fully on Limiting Position 1 and issue Multi-Step Learn command. The Learning step will be
set to 2.
3. Turn magnet “ON” fully on Limiting Position 2 and issue Multi-Step Learn command. The Learning step will be
set to 3.
4. Turn magnet “ON” fully on South Pole Position and issue Multi-Step Learn command. The learning step will be
set to 4.
5. Turn magnet “ON” fully on North Pole Position and issue Multi-Step Learn command. The learning step will be
sent to 0 and Learn Complete LED will turn on.
6. The Multi-step learn process is now complete.
Use Multi Step Learn/Calibration in the following scenarios:
1. Bin Picking Applications
2. Parts with different surface conditions. I.e., Increase/decrease in surface roughness to the part that causes to
increase/decrease the airgap.
3. If your best and worst case scenario are on different parts, so that one calibration (Learned Part) can be used
for the entire range of parts.
Simple Learn/Calibration
Steps to perform for Simple Learn:
1. Place tool on the location of the part that needs to be calibrated.
2. Turn magnet “ON” fully (100% ON)
3. Upon issuing Simple Learn Command, the tool will automatically go through four steps of the simple learn process.
4. Learned Complete LED should turn on if simple learn completed successfully else, Learn Error indication LED will turn
on if the magnet was not fully on when starting the Simple Learn process.
Use Simple Learn in the following scenarios:
1. Double blank/multiple sheet detection
2. Handling parts where best and worse are nearly similar and surface conditions do not very much between
parts

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Calibration Steps in Detail
Steps for Calibrating Gripper using Simple Learn
Step 1:
Select calibration storage option from the Learned Part drop down menu.
Fig 16: Selecting Calibration storage option
Step 2:
Ensure that Gripper is present on the target and turn magnet full on at 100% position.
Step 3:
Press Simple Learn Button.
Step 4:
Wait for Learn Complete indication LED to turn on, which indicates that calibration is performed successfully. In
the case that the calibration fails the Learn Error indication LED will turn on instead.

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Fig 17: Simple Learn Complete
Steps for Calibrating Gripper using Multi-Step Learn
Step 1:
Select calibration storage option from the Learned Part drop down menu.
Fig 18: Selecting Calibration storage option

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Step 2:
Ensure that gripper is present on the target in limiting position 1 and turn magnet full on. Some recommended positions
are provided below.
i. The maximum steel in vicinity (for complex or bin picking shapes)
ii. The best contact
iii. The least air gap
iv. The maximum for one pole, but minimum for the other
NOTE: The unit is centered on the part with little to no air gap between the pole shoes and part.
Fig 19: Example of Limiting Position 1 for Calibrated Part Present Signal

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Step 3:
Press Multi-Step Learn Button, the gripper blue LED will flash three times and Learning Step will display 1. This indicates
Multi-Step Learn is initiated and is waiting for Limiting Position 1.
Fig 20: Multi-Step Learn initiated
Step 4:
Press Multi-Step Learn Button, the gripper blue LED will flash three times and Learning Step will display 2. This
indicates that the gripper has stored Limiting Position 1 and is waiting for Limiting Position 2.
Fig 21: Mulit-Step Learn tool is calibrated for Limiting Position 1

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Step 5:
a. Turn off magnet, place gripper on the target in Limiting Position 2 and turn magnet full on. Some recommended
positions are provided below.
i. The minimum steel in vicinity (for complex or bin picking shapes)
ii. The worst contact.
iii. The maximum allowable air gap (coatings)
iv. The minimum for one pole, but the maximum for the other
NOTE: The unit is centered on the part but an air gap of 0.2mm approximately equal to 2 layers of standard copy paper is added
between the pole shoes and part. Artificial air gaps can be used to simulate scale, paint, or debris on a part but it is preferable to use
the authentic “worst-case” allowable part condition rather than nonferrous shims.
Fig 22: Example of Limiting Position 2 for Calibrated Part Present Signal

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Step 6:
Press Multi-Step Learn Button, the gripper blue LED will flash three times and Learning Step will display 3. This indicates
that the gripper has stored Limiting Position 2 and is now waiting for the South Pole Position. In case of an error, the
Learn Error LED will turn on.
Fig 23: Mulit-Step Learn tool is calibrated for Limiting Position 2
Step 7:
Turn off magnet, place gripper on the target in the desired position for South Pole Signal and turn magnet full on.
Fig 24: Example of South Pole Signal Position
Step 8:

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Press Multi-Step Learn Button, the gripper blue LED will flash three times and Learning Step will display 4. This
indicates that the gripper has stored the South Pole Position and is waiting for the North Pole Position. In case of an
error, the Learn Error LED will turn on.
Fig 25: Multi-Step Learn tool is calibrated for Limiting Position 3
Step 9:
Turn off magnet, place gripper on the target in the desired position for the North Pole Signal and turn magnet full on.
Fig 26: Example of North Pole Signal Position