Schaeffler EWELLIX SLIDEKIT 2.0 User manual

CATEGORY
MAX 2 LINESINSTALLATION, OPERATION AND MAINTENANCE MANUAL
SLIDEKIT 2.0

2
SLIDEKIT
Quick start guide
For more details on each step, read the full instructions
1. Mount LIFTKIT or Universal Robot
on SLIDEKIT
2. Matching number of
connecting cables and
connectors
3. Software Installation
1 2 3 5 6
3.1. Click the hamburger menu in
the top right corner
3.2. Click settings
Promixity Switch cable
Main power
Safety-I/O cable
Cobot Interface cable
Digital-I/O
Motor Power
CANopen Interface
cable
1 2 3
56
4
Safety I/O connection
Pin No. Name Color
1 SR1 + 24V Red
2 SR1 GND White
3 SR2 + 24V Black
4 SR2 GND Green
5 N.C. N.C.
23
23
24
24
13
13
14
14
A1 A2
A2
A1
31
31
32
32
UR3
UR5
UR10/16
LIFTKIT
The Slidekit2.0 control box has two
integrated safety relay 7S.23 from Finder
with forcibly guided contacts.
Their coil and feedback contacts are
wired directly to the I/O connector.

3
4. Software installation 4.1. Go to System ⮑ URCaps and
press +
4.2. Insert the SLIDEKIT USB
Drive into the USB port at the
teach pendant, choose the
URCaps le from the SLIDEKIT
USB drive, then press
"Restar t".
5. Installation tab 5.1. Go to Installation -> URCaps ->
SLIDEKIT.
5.2. Set up three aspects of the
SLIDEKIT operation:
5. 2 .1. Communication
5.2.2.SLIDEKIT Setup
5.2.3. Position Setup
5.3. Homing
5.3.1. Select serial interface
5.3.2. SLIDEKIT type selection
5.3.3. Homing execution
6. Toolbar Move SLIDEKIT manually by using the
“MOVE –” and “MOVE +” buttons
Or
Move SLIDEKIT to a desired position
by typing in the desired position and
use the “MOVE” button.
7. Installation tab 7.1. 7.1. Safty I/O installation
To activate the SLIDEKIT, the
safety I/O must be congured
correctly in the UR environ-
ment. In the Safety section of
the Installation tab, set the rele-
vant safety output to ‘System
Emergency Stopped’.
Quick start guide

4
SLIDEKIT
4
Contents
1.0 General information......................................................5
1.1 Information in this manual ...............................................5
1.2 Explanation of symbols and signal words ......................5
1.3 SLIDEKIT designations ...................................................6
1.4 Related documents .........................................................6
1.5 Target audience...............................................................6
2.0 Safety .............................................................................7
2.1 Intended use....................................................................7
2.2 Functional safety.............................................................7
2.3 Safety mechanisms.........................................................7
2.4 Application notes ............................................................7
2.5 Potential risks..................................................................7
3.0 SLIDEKIT components.................................................8
3.1 Scope of delivery.............................................................8
3.2 System requirements......................................................8
4.0 Mechanical installation................................................9
4.1 Tools required..................................................................9
4.2 Robot installation on the linear module..........................9
4.3 Lubrication intervals........................................................9
4.4 Dimensional drawing..................................................... 10
5.0 Electrical connection ................................................. 12
6.0 Software Installation.................................................. 13
7.0 Software operation..................................................... 14
7.1 SLIDEKIT Installation ..................................................... 14
7.1.1 Safety I/O setup on UR ............................................ 14
7.1.2 Communication ....................................................... 14
7.1.3 SLIDEKIT Setup ....................................................... 14
7.1.4 Position Setup ......................................................... 15
7.1.5 Toolbar..................................................................... 15
7.2 Program note................................................................. 15
7.2.1 Insert a URCap command ...................................... 15
7.2.2 Script calls (only for advanced users)..................... 16
8.0 Appendix...................................................................... 17
8.1 Controller ....................................................................... 17
8.2 Limit switch ................................................................... 17
9.0 SLIDEKIT 2.0 Troubleshooting ..................................18
9.1 Introduction ................................................................... 18
9.1.1 Pre re q u i s ite s ............................................................ 18
9.2 Program errors .............................................................. 18
9.2.1 Connection with SLIDEKIT is not established........ 18
9.2.2 SLIDEKIT is not initialized....................................... 19
9.2.3 Homing is not nished............................................ 19
9.2.4 Invalid virtual limits ................................................. 19
9.2.5 Position out of range .............................................. 19
9.2.6 Invalid program data...............................................20
9.2.7 Not connected to SLIDEKIT ...................................20
9.2.8 Not connected to Polyscope’s RTDE.....................20
9.2.9 SLIDEKIT has not reached target position.............20
9.2.10 Disconnection while program is running .............. 21
9.2.11 SLIDEKIT has entered in fault state ......................21
9.2.12 Program general exception...................................22
9.3 Homing errors ...............................................................22
9.3.1 Homing error: interrupted or not started ................22
9.3.2 Homing error: attained but target not reached......22
9.3.3 Homing error: velocity is not zero ..........................23
9.3.4 Homing error: velocity is zero.................................23
9.3.5 Homing error: homing in progress .........................23
9.3.6 Homing error: no response from the motor ...........23
9.3.7 Homing error: unknown error .................................23
WARNING
Read this manual before installing, operating or maintaining
this device. Failure to follow safety precautions and instructions
could cause linear module failure and result in serious injury,
death or property damage

5
1.0 General information
1.0 General information
These installation instructions describe the setup and opera-
tion of SLIDEKIT, a horizontal sliding axis for collaborative
robots.
1.1 Information in this
manual
This manual provides important information on how to work
with the product (also called device or drive) safely and
eciently.
The manual is part of the device, must always be kept in the
device’s direct proximity and should be available for person-
nel to read at any time. All personnel working with the device
must read and understand this manual before starting any
work. Strict compliance with all specied safety notes and
instructions is a basic requirement for safety at work.
Moreover, the accident prevention guidelines and general
safety regulations applicable at the place of use of the de-
vice must also be complied with.
For a better representation of the circumstance of use, the
illustrations used are not necessarily to scale and may vary
from the actual design of the device.
1.2 Explanation of symbols
and signal words
Safety precautions
Safety precautions are identied by symbols and signal
words as shown to the right. The signal words indicate the
severity of the hazard and the chance it could occur.
Follow these safety precautions and act cautiously in order
to avoid accidents, personal injury and damage to property.
DANGER
Indicates a dangerous situation, which
will lead to death or serious personal
injury, if the precautionary measures are
ignored.
WARNING
Indicates a dangerous situation, which
can lead to minor or moderate injury or
property damage, if the precautionary
measures are ignored.
CAUTION
Indicates a dangerous situation, which
can lead to minor or moderate injury
the precautionary measures are ignored.
NOTICE
Indicates information considered
important, but not hazard-related (e.g.
messages relating to property damage).
NOTE
Emphasizes useful hints and
recommendations as well as information
for ecient and trouble-free operation.

6
SLIDEKIT
1.3 SLIDEKIT designations
SLIDEKIT contains a Linear module, a controller and addi-
tional accessories enabling easy integration with a collabo-
rative robot. Dierent product congurations are available,
according to the product ordering key.
1.4 Related documents
This instruction manual does not replace the operating man-
uals of the included products but adds additional instruc-
tions relevant to the setup and operation of the SLIDEKIT
system related to collaborative robots.
For general information and safety instructions please refer
to installation, operation and maintenance manuals available
at www.ewellix.com
• CLSM Linear module
• Linear modules - CLSM Installation, operation and mainte-
nance manual.
1.5 Target audience
This manual is intended for technical personnel and author-
ized users who use and install SLIDEKIT in their application.
This manual and the corresponding operating manuals
should always be kept available for reference.
Qualied personnel can carry out assigned work and to rec-
ognize and prevent possible dangers self-reliantly due to its
professional training, knowledge and experience as well as
profound knowledge of applicable regulations.
Ordering key
Robot
00 Any robot (no software)
UR Universal Robot
Module options
Drive
B Ball screw (lead 20)
PBelt (width 40)
E Cover Alumium and External motor attachment
Stroke
100 ... 3 000
1 000 Preferred range Ball screw
1 800 Preferred range Ball screw
2 500 Preferred range Belt
3 000 Preferred range Belt
Electrical options
11 120 VAC / US cable
22 230 VAC / EU cable
23 230 VAC / CN cable
24 230 VAC / UK cable
25 230 VAC / CH cable
Accessories options
SLimit switch
Cableveyor
FHigh Flex cable 1)
MStandard hole pattern
Customized options
S Option 1 - Safety relay
S L I D E K I T -U R -E- - - S F M - S 0 0
1) The bending radius increased to comply with cobot manufacturers' requirements

7
2.0 Safety
7
2.0 Safety
This section provides some safety aspects supplementary
to the safety aspects described in the relevant operating
manuals of the included devices. Failure to comply with the
guidelines and safety instructions contained in this manual
may result in serious hazards that could cause possible seri-
ous injury or death or damage to the device or equipment.
The listed safety aspects must be reviewed and taken into
account in the nal application risk assessment prior to the
use of SLIDEKIT.
2.1 Intended use
SLIDEKIT has been designed and built for the intended use
as described in the operating manual of the linear module,
with additional intended use dened as sliding of a robot to
extend its operating range in an industrial environment.
Any use that extends beyond the intended use or a use dif-
ferent than the one described above is deemed misuse.
Any type of claims resulting from damage caused by misuse
are excluded.
2.2 Functional safety
The SLIDEKIT system is not a functional safety system com-
pliant with EN ISO 13489-1 or IEC 62061. To integrate the
SLIDEKIT into a functional safety chain, external safety de-
vices must be added to the overall system
2.3 Safety mechanisms
The following measure have been integrated in SLIDEKIT to
reduce the risk of harm or damage
• Pinching risk between the carriage and the end block of
SLIDEKIT is minimized.
• The SLIDEKIT controller must be connected to the Univer-
sal Robot (UR) safety IO to operate. Activation of the UR
emergency stop will trigger a stop of the controller via 2
safety relays, certied ISO 13849-1. If the UR system is
turned o, SLIDEKIT cannot be operated.
• The SLIDEKIT controller checks the CANopen connection
to the UR controller. If this connection is lost, the linear
module movement is automatically stopped.
• Stopping or failure of the UR software send a stop signal
to the SLIDEKIT controller.
2.4 Application notes
• Integration with an emergency-stop is required for its in-
tended use.
• Install emergency stop functions for the linear module and
integrate them into the safety chain of the complete sys-
tem prior to operating SLIDEKIT.
• The emergency stop function must be connected in such a
way that a disruption of the power supply or the activation
of the power supply after a power disruption cannot cause
a hazardous situation for persons and objects.
• The emergency-stop systems must always be freely ac-
cessible.
• To integrate SLIDEKIT into a functional safety system with
a STO (Safe Torque O) safe condition, an external safety
relay must be connected to the SLIDEKIT controller power
supply, triggered by a functional safety function, such as
the UR safety IO.
2.5 Potential risks
The following risks during the SLIDEKIT operation must be
considered in an application specic risk assessment
• SLIDEKIT does not detect an impact automatically and
does not stop movement upon impact.
This can lead to:
-Crushing of a person or an object in the path of the linear
module, causing signicant harm
-Dynamic impact to a person or an object causing signi-
cant harm
• The SLIDEKIT movement does not stop at the desired po-
sition and the UR control software does not recognize this
-Movement of the robot can occur at a dierent position
than intended, causing signicant harm or damage.

8
SLIDEKIT
8
3.0 SLIDEKIT components
3.1 Scope of delivery
1. 1 Linear module (with motor)
2. 1 Attachment plate for UR3/UR5/UR10/UR16 & LIFTKIT
3. 1 SLIDEKIT Control Box
4. 1 Main power cable (1,5 m)
5. 1 Motor Power cable (3 m) 1)
6. 1 CANopen Interface cable (3 m) 1)
7. 1 Promixity Switch #1, #2 cable (3 m)
8. 1 Safety-I/O cable (3 m) 1)
9. 1 Cobot Interface cable (3 m) 1)
10. 1 Digital – I/O Interface cable (3 m) 2)
11. 1 USB stick with URCaps software
12. Cableveyor
13. 2 limit switch with sockets
14. 8 Screws M6 for UR3 robot / LIFTKIT (M6 x 20L)
15. 4 Screws M8 for UR5/UR10/UR16 robot (M8 x 25L)
SLIDEKIT 2.0 contains
16. 2 pins Ø 5 mm to align UR3 robot (Ø 5 x 10L)
17. 2 pins Ø 8 mm to align UR5/UR10/UR16 robot
(Ø 8 x 16L)
18. 2 pins Ø 6 mm to align LIFTKIT (Ø 6 x 12L)
1) Other cable lengths available on request.
2) Options
3.2 System requirements
• Robot compatibility: UR3, UR5, UR10, UR16, UR3e, UR5e,
UR10e, UR16e and CB series
• UR controller: minimum CB 3.1 is required for the URCaps
plugin
• Polyscope: Polyscope 3.6 or higher
• Power input capacity (at rated load) : 120 to 230 V AC,
0.9 K VA
Control unit
CLSM Linear module
CAN D-SUB 9Pin Digital IO Proximity SwitchMotor Power
*Teach pendant not included
UR software plugin
(not included in SLIDEKIT-00)
Robot attachment plate
(The taps are only provided for
Universal Robots cobot as standard)

9
4.0 Mechanical installation
4.0 Mechanical
installation
4.1 Tools required
• 5 mm & 6 mm wrench
4.2 Robot installation on
the linear module
1. Take SLIDEKIT out of the box
2. For mounting to SLIDEKIT, attach the bottom plate with
M6 bolts (not included) to the SLIDEKIT base plate.
SLIDEKIT should be supported by its entire length or at
least every 300 mm by clamping unit or bolt.
3. Insert the 2 alignment pins on the top plate (Ø 6 mm for
UR3, Ø 8 mm for UR5/10/16, Ø 6 mm for LIFTKIT)
4. Align the robot or SLIDEKIT with the alignment pins and
x the robot base with the four bolts provided or
SLIDEKIT base with the eight bolts provided.
4.3 Lubrication intervals
Under normal operating condition, v≤ 1 m/s, travel under
Fm ≤ 0,3 c. Inject grease 4,08 cm2 according to condition as
shown in the graph below.
1 240 1 860 2 480 3 100 3 720
7 000
6 000
5 000
4 000
3 000
2 000
1 000
0
Lubrication intervals [km]
Payload [N]
Lubrication can be performed via the dedicated grease
nipple (g. 1)
7,7
8,1
MT6×1
M6×0,75
8,1
13,5
Fig. 1

10
SLIDEKIT
37.5
10
UR3
UR5
UR10, 16
UR3
UR5
UR10, 16
170
200 180
170
170
170
70
35
15 15
35
170 4x2 - M6
Tap Thru
70
35 35
Stroke
160
172
200
170
170
160
172
200
200 180
15 15
Side T Slot
(Both Sides)
80
15
155
250
7,9
5,2
7,9
5,2
6
Side T Slot
(Both Sides)
80
150
15
95
6
150
A (P200 x B) C
(200)
D E
130
Ø6H7 Pin Hole DP10
M6 Tap DP12
(150)
92,5 170
300 + Stroke10
320 + Stroke
For UR Robot
For any Robot
For LIFTKIT
and UR Robot
For LIFTKIT
Stroke A B C D E
mm
1100 200 175 200 175
2200 400 225 125
3300 400 275 400 175
4400 600 325 125
5500 600 375 600 175
6600 800 425 125
7700 800 475 800 175
8800 1 000 525 125
9900 1 000 575 1 000 175
10 1 000 1 200 6 25 125
11 1 100 1 200 6 75 1 200 175
12 1 200 1 400 7 25 125
13 1 300 1 400 7 75 1 400 175
14 1 400 1 600 8 25 125
15 1 500 1 600 8 75 1 600 175
16 1 600 1 800 9 25 125
17 1 700 1 800 9 75 1 800 175
18 1 800 2 000 10 25 125
Standard stroke
Ball Screw version
4.4 Dimensional drawing

11
4.0 Mechanical installation
For any Robot
For UR RobotFor LIFTKIT
and UR Robot
For LIFTKIT
80
15
155
250
160
172
200
170
Side T Slot
(Both Sides)
5.2
150
7.9
6
UR5
UR10, 16
170
170
UR3
170
170
172
200
15
Side T Slot
(Both Sides)
150
5.2
7.9
160
6
80
95 200
180
170
70
35
15 15
35
200 180
70
35
15 15
35
170 4x2 - M6
Tap Thru
35.5 170 Stroke 104.5
10
310 + Stroke
330 + Stroke
106 79 205,5
60
10
10
80
A (P200 x B) C
(200)
E D
Ø6H7 Pin Hole DP10
M6 Tap
DP12
E
C
130
(150)
Stroke A B C D E
mm
10 1000 1200 665 1000 165
11 110 0 1200 6115 1000 215
12 1200 1400 765 1200 165
13 1300 1400 7115 1200 215
14 1400 1600 865 1400 165
15 1500 1600 8115 1400 215
16 1600 1800 965 1600 165
17 1700 1800 9115 1600 215
18 1800 2000 10 65 1800 165
19 1900 2000 10 115 1800 215
20 2000 2200 11 65 2000 165
21 2100 2200 11 115 2000 215
22 2200 2400 12 65 2200 165
23 2300 2400 12 115 2200 215
24 2400 2600 13 65 2400 165
25 2500 2600 13 115 2400 215
26 2600 2800 14 65 2600 165
27 2700 2800 14 115 2600 215
28 2800 3000 15 65 2800 165
29 2900 3000 15 115 2800 215
30 3000 3200 16 65 3000 165
Standard stroke
Belt version

12
SLIDEKIT
1. Connect the main power cable (cable 7) to the SLIDEKIT
controller in connection MAIN POWER (7)
2. Connect the two connectors of the Motor power (ca-
ble 6) and CANopen Interface (cable 5) cables in con-
nector (6), (5) of the SLIDEKIT controller
3. Digital-I/O cable (cable 4) is a cable required for exter-
nal I/O control, which is connected to the in connector
(4) (use only for SLIDEKIT-00 version)
4. Connect the cobot Interface (cable 3) in connector (3)
5. Connect the safety-I/O cable (cable 2) in connector (2)
6. Connect the promiity switch cable (cable 1) in connec-
tion (1)
7. Plug in Cobot Interface cable (cable 3) to UR controller
USB port (8)
8. Attach the safety-I/O cable (cable 2) to a safety DO on
the UR controller
NOTE
The safety I/O has to be congured in the Safety menu of the
Installation tab. Follow the instructions in Chapter 7.1.1
5.0 Electrical connection
2
4
3
1
5
6
7
1. promixity Switch #1, #2 cable
2. Safety-I/O cable
3. Cobot Interface Cable
4. Digital-I/O cable
5. CANOpen Interface Cable
6. Motor Power cable
7. Main power cable
8. UR Controller USB port
8

13
6.0 Software Installation
The software screencaps shown use the e-Series design.
Functionality on the CB-Series is similar but might have a
dierent appearance.
To install the SLIDEKIT URCaps, follow the described steps:
1. Click the hamburger menu in the top right corner.
2. Click settings.
6.0 Software Installation
3. Go to System ⮑ URCaps and press +
4. Insert the SLIDEKIT USB Drive into the USB port at the
teach pendant, choose the URCaps le from the
SLIDEKIT USB drive, then press "Restart".

14
SLIDEKIT
The SLIDEKIT URCaps enables movement of SLIDEKIT di-
rectly in the UR Polyscope environment. When going into
programming mode in Polyscope, the SLIDEKIT setup can
be accessed through the installation tab. The movement of
SLIDEKIT can then be accessed directly in the Program tab.
7.1 SLIDEKIT Installation
To access the installation tab, go to Installation ⮑ URCaps
⮑ SLIDEKIT.
The SLIDEKIT installation screen allows to set up three as-
pects of the SLIDEKIT operation:
1. Safty I/O setup on UR
2. Communication
3. SLIDEKIT Setup
4. Position Setup
5. Toolbar
NOTE
Save the installation le to keep the values after restart.
7.1.1 Safety I/O setup on UR
To activate SLIDEKIT, the safety I/O must be congured cor-
rectly in the UR environment. In the Safety section of the
Installation tab, set the relevant safety output to "System
Emergency Stopped".
7.0 Software operation
7.1.2 Communication
• Serial interface: Select the correct serial interface on the
UR controller. In case other devices are connected, select
a free serial port.
• Daemon port: Select a daemon port that is not used by
another URCaps. If the same port is used for dierent
URCaps, communication problems might occur and
SLIDEKIT cannot operate normally.
7.1.3 SLIDEKIT Setup
• SLIDEKIT type: Select the correct SLIDEKIT from the drop-
down menu. You can choose between 'SK 20x20 BG65S'
(default) for ball screw variant (B20 in the product type key)
or 'SK BELT 40 BG65S' for belt drive (P40 in the product
type key).
• By selecting a wrong conguration, a normal operation of
SLIDEKIT cannot be guaranteed. If the linear module has
been initialized correctly, the maximum stroke accessible
is displayed underneath. Check that this value corre-
sponds with the product connected.
• With the HOMING button, a new homing can be started.
During the homing process all other functions are blocked.
The slide automatically moves rst to the limit switch close
the motor, then to the limit switch on the other side.
• Virtual limits can be set to limit the SLIDEKIT movement.
They can set following the rule: 0 mm ≤ Virtual MIN < Vir-
tual Max ≤ Available Stroke.

15
7.0 Software operation
7.1.4 Position Setup
• With the Move- and Move+ buttons you can move
SLIDEKIT manually while pressed
• Fill out the default motion prole parameters velocity, ac-
celeration and deceleration. These values are set at each
step of the program.
• The value for velocity can be set up to 1 000 mm/s. How-
ever, the max velocity for the dierent SLIDEKIT lengths
are as follow:
200 400 600 800 1 000 1 200 1 400 1 600 1 800 2 000 2 200 2 400 2 600 2 800 3 000
1 200
1 000
800
600
400
200
0
Ball screw lead 20 Belt drive width 40
Linear speed [mm/s]
Stroke [mm]
Performance diagram
7.1.5 Toolbar
• Access the toolbar by clicking on the UR+ icon in the right
top corner. It gives you the opportunity to move SLIDEKIT
manually by using the “MOVE –” and “MOVE +” buttons or
to move SLIDEKIT to a desired position by typing in the
desired position and use the “MOVE” button.
7.2 Program note
7.2.1 Insert a URCap command
• To insert a new command, go to Program ⮑ URCaps
⮑ SLIDEKIT
• Using MOVE buttons
You can move SLIDEKIT manually by using the “MOVE –”
and “MOVE +” buttons or to move SLIDEKIT to a desired
position by typing in the desired position and use the
“MOVE” button.
• Change motion prole parameters
For each step that is inserted, the default motion prole
parameters are used, that are set in the installation tab.
However, for each step the parameters can be changed.
• Run in a separated thread
By clicking this option, the movement will happen in paral-
lel to the rest of the program. However, two movements
cannot be executed at the same time. The program blocks
at the next movement command until the previous move-
ment is nished.
NOTE
Be aware, that checking this option could lead to unexpected
SLIDEKIT movements.
NOTE
Don’t check this option if you want to run SLIDEKIT Advanced
⮑ Thread.

16
SLIDEKIT
7.2.2 Script calls (only for advanced
users)
• Beside using the URCap command, there is a possibility to
use script commands.
get_slidekit_check_connection()
-returns True if SLIDEKIT connection status is established,
else False.
get_slidekit_is_moving()
-returns True if SLIDEKIT is moving, else False.
get_slidekit_reached_position()
-returns True if SLIDEKIT reached is position, else False.
get_slidekit _ position()
-returns the actual SLIDEKIT position in oat point value
with one decimal place.
get_slidekit_actual_current()
-returns the actual current of SLIDEKIT in milliamperes.
move_slidekit(position, velocity, acceleration,
deceleration)
-moves SLIDEKIT to the desired position using motion
prole parameters.
-This command is blocking until SLIDEKIT reaches its
position.

17
8.0 Appendix
8.1 Controller
SLIDEKIT CONTROL BOX
EWELLIX
MAKER IN MOTION
300
200
Switch #1 (Home)
Switch #2 (+Limits)
Safety-I/O
Cobot Interface
Bracket: 4EA
Bolt: 4EA
Nut: 4EA
4-Ø8,5
(Control unit mount hole
Wall mount bracket
RS stock no.:842-8471
Digital-I/O
Motor Power
CANopen Interface
260
150 160
1 2 3
56
4
8.2 Limit switch
- EE-SX674P-WR 1M
8.0 Appendix

18
SLIDEKIT
18
9.0 SLIDEKIT 2.0 Troubleshooting
9.1 Introduction
This Troubleshooting Guide is intended to provide guidance
to the SLIDEKIT 2.0 end users in the detection and correc-
tion of programming issues within Polyscope’s robot
program.
9.1.1 Prerequisites
The SLIDEKIT 2.0 end-users must be experienced with the
following:
• Polyscope software.
• SLIDEKIT 2.0 as Polyscope’s extension.
• Programming robot program in Polyscope application,
with the aspect on The SLIDEKIT 2.0.
• SLIDEKIT 2.0 hardware limitation.
• SLIDEKIT 2.0 functional knowledge.
9.2 Program errors
9.2.1 Connection with SLIDEKIT is not
established
Issue: Program can’t run since there is no connection with
SLIDEKIT.
Possible causes:
• There is no hardware connection, or it’s broken.
• SLIDEKIT is powered o or turned o.
Solution(s):
• Check that hardware connection with SLIDEKIT is not
broken.
• Check that SLIDEKIT is powered on and turned on.
• Go to installation node and check that you have selected
serial interface and connection with SLIDEKIT is estab-
lished (“Connected”).

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9.0 SLIDEKIT 2.0 Troubleshooting
19
9.2.2 SLIDEKIT is not initialized
Issue: Program can’t run since SLIDEKIT is not initialized.
Possible causes:
• The SLIDEKIT conguration is not selected.
• The SLIDEKIT conguration was selected, but is missing
after the SLIDEKIT is updated with the new version.
Solution(s):
• Check that you have selected desired the SLIDEKIT
conguration in Installation node.
9.2.3 Homing is not nished
Issue: Program can’t run since SLIDEKIT is not calibrated.
Possible causes:
• Homing is NOT PERFORMED (e.g. started but not nished,
canceled by the user or there were connection issues dur-
ing homing procedure, so it’s not nished properly and
without errors).
• After Polyscope is restarted, the loaded installation le
does not contain any information about valid homing
(e.g. “rst time” homing), or the SLIDEKIT current position
is outside the available stroke range (0 – max stroke).
• After Polyscope is restarted, the selected SLIDEKIT con-
guration is missing (previously selected conguration is
not present anymore in the newly loaded *. URCap le).
Solution(s):
• Go to IN and perform homing again. It is highly recom-
mended to save installation after homing procedure is
nished.
9.2.4 Invalid virtual limits
Issue: Program can’t run since set virtual limits are not valid.
Possible causes:
• Virtual min and virtual max have been wrongly dened.
Solution(s):
• Go to IN and set virtual min and virtual max properly:
0 ≤ virtual min < virtual max < max available stroke.
9.2.5 Position out of range
Issue: Program can’t run, desired position is out or range.
Possible causes:
• Desired position is outside virtual min - virtual max range.
Solution(s):
• S1: go to PN and set desired position to virtual min <= de-
sired position ≤ virtual max.
• S2 (if possible): go to IN and change virtual min/virtual max
so it’s satises condition from S1.

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SLIDEKIT
20
9.2.6 Invalid program data
Issue: Program can’t run, entered program data is invalid.
Possible causes:
• Entered program value for velocity is outside min velocity
– max velocity range of selected SLIDEKIT conguration.
• Entered program value for acceleration is outside min ac-
celeration – max acceleration range of selected SLIDEKIT
conguration.
• Entered program value for deceleration is outside min de-
celeration – max deceleration range of selected SLIDEKIT
conguration.
Solution(s):
• Go to PN and change program value for velocity, accelera-
tion or deceleration to be in appropriate range of selected
SLIDEKIT conguration.
• Consider changing SLIDEKIT conguration and perform
homing again if selected range does not satisfy your
needs.
9.2.7 Not connected to SLIDEKIT
Issue: Same as 9.2 “Connection with SLIDEKIT is not
established”.
Possible causes:
• Same as 9.2 “Connection with SLIDEKIT is not estab-
lished”.
Solution(s):
• Same as 9.2 “Connection with SLIDEKIT is not estab-
lished”.
9.2.8 Not connected to Polyscope’s
RTDE
Issue: Program can’t run, no connection with Polyscope’s
service RTDE.
Possible causes:
• RTDE service is failed to start.
• New Polyscope version is installed and Polyscope’s RTDE
service uses now a dierent port.
• Bad input/output SLIDEKIT recipe for synchronization with
RTDE.
• Not enough resources.
Solution(s):
• Restart Polyscope application. If you still have problem,
contact Ewellix.
https://www.ewellix.com/en/global/page-contacts.
9.2.9 SLIDEKIT has not reached target
position
Issue: SLIDEKIT did not reached target position within
expected time period.
Possible causes:
• Tolerance in selected SLIDEKIT conguration is too short.
• SLIDEKIT did not respond the desired period.
Solution(s):
• Contact Ewellix
https://www.ewellix.com/en/global/page-contacts.