robominds robobrain.LEDgripper User manual

robobrain.LEDgripper
Manual
robominds GmbH
Südliche Auffahrtsallee 76 | 80639 München
www.robominds.de
Contact: robominds GmbH
[e-mail]
T [phone]
Südliche Auffahrtsallee 76
80639 München
Date: Wednesday, March 9, 2022

_______________________________
robominds GmbH
HRB Nr. 227500 –Amtsgericht München | USt-IdNr. DE308456431
Managing directors: Andreas Däubler | Tobias Rietzler
Südliche Auffahrtsallee 76
80639 München
www.robominds.de
[email protected]

Foreword
Congratulations on the purchase of your new robobrain.LEDgripper vacuum gripper.
The gripper is designed for mounting on a UR e-series robot flange and using the ro-
bobrain.eye vision system. The robobrian.LEDgripper can be equipped with different suction
cups and thus offers a flexible solution for different application scenarios. The special feature
of the gripper are its 132 individually controllable LEDs, which can be used, for example, to
display the status of the system. The integrated analog vacuum sensor enables safe process
design. The gripper can be controlled directly via the tool I/O.
Figure 1: robobrain.LEDgripper

Inhaltsverzeichnis I
©2021 robominds GmbH
Table of contents
Table of contents ............................................................................................................... I
1Product description............................................................................................... 1
2Technical Data...................................................................................................... 2
2.1 General parameters...................................................................................................2
2.2 Dimensions................................................................................................................3
3Installation............................................................................................................ 4
3.1 Mechanical Installation ..............................................................................................4
3.2 Electrical installation ..................................................................................................5
4Initial operation..................................................................................................... 6
4.1 Robot settings for UR e-series ...................................................................................6
4.2 Operating modes ......................................................................................................6
4.3 Reading out the vacuum sensor.................................................................................6
5Further information ............................................................................................... 7

Product description 1
©2021 robominds GmbH
1Product description
The robobrain.LEDgripper is a vacuum gripper that can be mounted on the flange of a UR
robot. The electrical connection can be made either at the tool I/O of the robot or at the
control box. Its special feature are the 132 individually controllable LEDs, which can be used
for status display and thus enable intuitive monitoring of the system. The vacuum is supplied
via an external supply that is connected directly to the gripper's flange. Various suction cups
can be mounted via the internal thread at the lower end of the gripper.
Figure 2: Overview robobrain.LEDgripper

Technical Data 2
©2021 robominds GmbH
2Technical Data
2.1 General parameters
Table 1: General parameters
Parameter
Value
Weight
620 g
Permissible payload
5 kg
Permissible operating temperature
0°C to 50°C
IP protection class
IP 20
Number of LEDs
132
Operating voltage
24 V DC
Absolute maximum operating voltage
36 V DC
Peak current
150 mA

Technical Data 3
©2021 robominds GmbH
2.2 Dimensions
Figure 3: Dimensions (mm)

Installation 4
©2021 robominds GmbH
3Installation
3.1 Mechanical Installation
The gripper can be mounted on a tool flange according to ISO 9409-1-50-4-M6 by four M6
screws. If the gripper is used in combination with the robobrain.eye camera and the
robobrain.vision flange, the length of the screws must be 30 mm. If it is mounted directly on
the robot flange, four M6x20 screws must be used.
Figure 4: Mechanical installation
The vacuum is supplied externally via an 8 mm diameter tube. The gripper can be used with
suction cups with a G3/8" Withworth pipe thread. The maximum screw-in depth is 10 mm.

Installation 5
©2021 robominds GmbH
3.2 Electrical installation
The electrical connection is made via the M8 IEC 61076-2-104 connector, which requires an
appropriate cable to be connected directly to the robots tool I/O.
Figure 5: Connector layout

Initial operation 6
©2021 robominds GmbH
4Initial operation
4.1 Robot settings for UR e-series
Some settings have to be made to be able to operate the gripper as intended. First of all, the
supply voltage at the tool I/O must be activated and set to 24 V. Then the digital tool outputs
must be set to Push/Pull mode. The analog inputs must be configured as such and not as
"Communication Interface".
The gripper can also be operated with a supply voltage of 12 V DC. If this is the case,
different operating modes for the LEDs are not possible but they remain in the “blue
sinus axial” mode.
4.2 Operating modes
The robobrain.LEDgripper has four different operating modes. These can be activated by
switching the digital tool outputs according to table 3.
Table 2: Truth table for operating modes
Digital Output 0
0
1
Digital Output 1
0
Blue sinus axial
Green sinus axial
1
Static red
Party mode
4.3 Reading out the vacuum sensor
If the robot is configured as described in 4.1, the value of the vacuum sensor can be read at
the analog input 2 of the tool I/O. The voltage range is between 1 and 5 V DC, depending
on the vacuum applied.