MIRKA UR Kit User manual

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Mirka UR Kit content
Mirka finishing tool for robots:
Mirka motor drive cabinet Modbus: MIA6514112
Abrasive sample kit:
USB communication cable: MIA6514122
UR adapter flange: MIA6560111
10 meter robot cable: MIA6512311
Mounting screws, Power cable and a USB stick
Hey key: 4 mm
Hex key: 6 mm
Flat screwdriver
Tools for installation
NTC-
GND
Phase C
Phase B
Phase A
1. Installing cables
Locate connectors J1 (USB communication cable) and J3 (Robot cable).
Pull the Robot cable through the middle pass-through tting and the USB
communication cable through the rightmost pass-through tting, which
is of a smaller size.
Insert a at screwdriver in the rectangular hole
and push down to open up the connector ports.
Connect the cables in the following way:
1.1. USB comm cable (J1)
Insert the USB communication wires in the following order
(the heat shrinked cables are not to be used)
1.2. Robot cable (J3)
Insert the robot cable wires in the following order:
WARNING!
Miswiring of the robot cable can cause permanent damage to the motor drive.
Double check that all wires are in their correct position. If unsure have an
electrician or a person skilled in the art do the installation.
Unpack the motor drive cabinet from its transport packaging. Open the
cabinet with the supplied key and remove the packaging material inside.
The main components of the motor drive cabinet are the motor drive PCB
and PSU. For installation purposes only the motor drive PCB will be relevant.
NTC+
P-
C-
C+
P+
(Yellow)
(Not connected)
(Black)
(Blue)
(Brown, 1 mm)
(Brown, 0,25 mm2)
(Green)
(Grey)
(Pink)
(White)
GND
B
A
GND
(Not connected)
(Yellow)
(Orange)
(Black)
J1
J3
PSU
PCB
PCB
NOTE: The weight of the cable and vacuum hose may aect the force measurement of the sensor.
Minimum system requirements
Only for e-Series robots with a payload higher than 5 kg.
We recommend to use SW 5.8.0 or higher.
XML RPC port: 40464
Mirka UR Kit
QUICK START GUIDE

Connecting
the robot
cable
Table 1: Finishing tool TCP data.
Mirka Ltd.
Jeppo / Jepua
Pensalavägen 210
66850 Jeppo, Finland
Tel. [phone]
2. Installation
CABINET
1. Place the cabinet in the designated area
2. Route the USB comm cable in to the UR cabinet
3.
Connect the USB comm cable to an available USB port on the UR control box
4. Connect the supplied power cord to the IEC socket
TOOL
1. Mount adapter ange on the UR robot using 4 x DIN 7991
M6 x 10 bolts and a 4 mm hex key (8 Nm).
NOTE: The rotation of the adapter ange and the ange of the robot
should be aligned so that the dowel pin holes match.
2. Mount the nishing tool on the
adapter ange using 6 x DIN 912
M8 x 16 bolts and a 6 mm hex key
(18 Nm). Hold the tool in place
while tightening the M8 screws,
otherwise the tool join might move.
NOTE: The dowel pin makes sure the tool
is mounted in the correct alignment.
3. Arrange the robot cable and eventual
vacuum hose alongside the UR robot
and make sure the cable and hose
does not hinder the movement
of the arm, E.g./I.e. by using clamps
or by suspending the cables in air.
4. Connect robot cable to the nishing tool.
Rotation of the Adapter ange
SOFTWARE CONFIGURATION
1. Connect USB stick with the latest version of the URcap, to the robot.
(Visit www.mirka.com/airos to download latest version of the URcap)
2. Connect USB serial adapter to UR robot.
3. Tap the triple bar icon in the top right and select settings. Under
the system section open the URCaps subsection and press the“+”icon
bottom center. This will open a le explorer, locate the USB stick and folder
in which the Mirka URCap has been placed, press“mirkacontroller-x.x.x.ur-
cap”and press“open”.
4. Restart the UR robot.
5.
Go to the installation tab and locate the URCaps section and Mirka subsection.
6. Double check that the daemon tools is running, if not, start the process.
7. Click on refresh ports. Select correct serial port from the drop down list.
8. Click on Test connection to see if it is possible to read the serial number
from the motor drive.
9.
Under the installation tab on the teach pendant, tap the TCP section and
add the TCP of the mounted nishing tool according to the table below.
10. Use the wizard tool to determine the payload and center of gravity of
the mounted nishing tool.
11. Save the information before restart.
12. Finally plug in the power cord of the cabinet and turn on the power.
3. Using Mirka finishing tool
In the panel on the left, locate the URCaps section and the Mirka com-
mand. This will add a Mirka-node to the Robot Program. After a Mir-
ka-node is placed in the program, there are several options to select from.
Firstly, a node operation is selected between the three following:
SET RPM
This gives the user the option to select a valid RPM from a list.
This operation can be used either when the tool is stopped or when it is
running. Set RPM also allows the user to manually test a selected RPM
by using the“Test RPM”button. The tool is then stopped by using
the“Stop”button under Tool Control in the bottom right.
RUN
This operation starts the tool. The tool will run at the last set RPM.
STOP
This operation stops the tool.
The selected node operation is visible in the program tree as
“Mirka: Run”
“Mirka: Set RPM” or
“Mirka: Stop”
The node options menu has manual controls for the user under Tool
Control in the bottom right. Pressing the “Run”button will start the tool
at the lastly set RPM and“Stop”will stop the tool.
The“Wait for tool to reach RPM”checkbox makes the robot program wait
until the tool has reached the set RPM before continuing to the next
program node. This is especially useful if a nishing tool has been pressed
against a surface before starting it.
Start the robot program. The Mirka tool will automatically stop
if the program is stopped.
4. Troubleshooting
No serial ports found
1. Make sure that the motor drive cabinet power is turned on
2. Make sure the USB serial adapter is connected to the UR robot
3. Make sure the Mirka daemon process is running.
4. Try to reboot the robot
Unable to detect sander/polisher
1. Make sure that the motor drive cabinet power is turned on
2. Check connection between the USB serial adapter and
the motor drive cabinet. Make sure A/B/GND are correctly installed.
3. Make sure the correct serial port is selected. If multiple serial ports
are available, try each port until the correct port is found.
Troubleshooting finishing tool
Please refer to the tool manual, available at
www.mirka.com/airos
IMPORTANT: When programming, make sure to avoid collisions
between the cable & vacuum hose, and the UR robot itself.
Failure to do so, may cause misreadings of the force sensor.
Uninstalling software
1. Tap the triple bar icon in the top right and select settings.
2. Under the system section, open the URCaps subsection
and press the“-”icon bottom center.
© Mirka Ltd • MA042021
X, Y and Z Position [mm]
X Y Z
Mirka®AIROS 150NV 0 0 119
Mirka®AIROS 350CV/NV 0 0 125
Mirka®AIROS 550CV/NV 0 0 125
Mirka®AIROS 650CV/NV 0 0 125
Mirka®AIOS 130NV 0 0 139
Mirka®AIOS 353CV 0 0 130
Mirka®AIROP 312NV 0 0 125
Visit www.mirka.com/airos to download the latest software.
Download the latest URcap on the supplied USB-stick
Get the latest software