ST Robotics R17 User manual

R17 ToolChanger instructionspage 1STrobotics
R17 Tool Changerinstructions.
Please readthisbeforeproceeding withtheR17 manual.
Overview
SomeROBOFORTH‘code’issupplied withthe system, see later.
The pneumaticdevicescompriseapneumaticgripper, avacuumpickup with4cupsand a
toolchangersystem. The robot can pick up eitherthe vacuumpickup orthe gripperwith
the toolchanger. The toolnot inuseisparked on arack.
Tooperatethe toolchangercompressed airisrequired tounlock and releasethe tool.
Withno airtothe changeraspring holdsthe toolinplacebut locking pressureisalso
used toensureapositivelock against the electricalcontacts.
Pneumatics
THISITEMISMOUNTEDONWOODENBASE AND HASTEMPORARY
CONNECTIONSFORTESTING ONLY
The pneumatics circuit comprise4valves(orswitches), aVenturitoproducevacuum, and
vacuumsensor. See diagram1below. Connect tothe robot baseasindicated in
diagram2.

R17 ToolChanger instructionspage 2STrobotics
The controllerhasan output port PA with8bits, 3of whichcontrolthe pneumaticvalves.
Tounlock the toolchangeroperatePA bit 2withPA 2ON. Tolock againusePA 2OFF.
The command GRIPoperatesboththe
grippervalveand the vacuumvalveat the
sametimeviaPA 0but onlyone hasair
on it determined byPA 1. Sotooperate
the vacuumsimplyuseGRIP. Torelease
vacuumuseUNGRIP. Notethat while
GRIPped airiscontinuallyflowing through
the venturisoyou will requireadecent air
supply. Toclosethe gripperfirst operate
PA 1ONthen useGRIP. Then use
UNGRIPtoopen the gripper. Notethat
the grippermust be heldbythe changer
beforeoperating PA 1orairwill escape
through the toolchanger. All thisis
handled bythe samplecode supplied.
GripcheckorVacuumcheck
If the vacuumcupsareholding something
therewill be arelativelyhigh vacuum
whichwill operatethe vacuumsensor.
Thisconnectstothe controllerviathe
input port PB bit 6whichcan be tested
withPB 6BIT?–see samplecode.
If you haveagrippersensorthisisasmall
sensorinthe side of the gripperwhich
connectsback tothe controllerthrough the toolchangerand the robot toPB bit 5and can
be tested withPB 5BIT?. The idea isthat you slide thissensoralong the slot tosucha
position that you get atrue when the gripperisopen ORwhen closed on an object, but
you get afalseif the gripperclosescompletelyi.e. isgripping nothing.
You can monitorboththesesensorswith
PP
whichreadsinthe bit patternfromport PB and displays it asaline of 1and 0se.g.
11111111
right toleft ismost significant toleast significant. Thereforewhen you operatethe gripper
sensoryou will see
11011111
orwhen you operatethe vacuumsensoryou will see
10111111
Notethat the robot calibration sensorsusebits0-4.
Press escape toexit PP
Adjust the grippersensorsoit will differentiatebetween the object and no object and lock
inplacewiththe small screw. The vacuumsensorisalsoadjustableusing a1mm metric
Allen key.

R17 ToolChanger instructionspage 3STrobotics
Inthe samplecode forGRIPCHECKPA 1istested tosee whetheryou areusing the
vacuumorgripperand readsthe appropriateinput. It isalways agood idea touse
GRIPCHECKafteryou havegot well awayfromthe working area and then stop the robot
if necessaryinasaferplace.
If you don't haveagrippersensoruseVACCHECK
The samplecode assumesyou haveagripperand avacuumpickup. If not yourvalve
arrangement will be different but the programming will be muchthe same.
How toprogramthetool change.
Gotothe safeposition
READY2
The robot will end up at aposition withthe hand centerlevelwiththe shoulderpivot,
pointing downand with500mm between thesecenters.
Onceyou havefamiliarized yourself withthe useof projectsyou can load the project
supplied on the CD. Inproject toolchange.run the positionswherethe toolsareparked are
predefined aspositionsin2routes, GPATH(forthe gripper) and VPATH(forthe vacuum
pickup).
NowenterALIGN
Thiswill ensurethat asyou movethe robot around the workspacethe hand will remainin
the sameorientation tothe axesi.e. 0degrees.
Starting withthe vacuumpickup, inRobWinselect and open VPATH.
Next click the J(jog)button and movethe robot overthe rack and downintothe first tool
(suggest vacuumpickup)using the teachpad.
Onceclosed withthe tool(asmall gap istolerated)exit the jog mode, click line 4whichis
the finallock position inthe route. Click 'set tohere'.
Nowmoveup by10-20mm, select line 3and 'set tohere'
Moveup another20mm, select line 2and 'set tohere'
Moveup until well clearof the rack, select line 1and 'set tohere'.
GETVACwill get the vacuumpickup.
PUTVACwill put it back.
Forthe gripper, select and open GPATH
Movethe robot across and carefullydownintothe toolwiththe Jog function.
Repeat the sameprocedureasforthe vacuumand VPATHbut using GPATH.
OnRobWinusefile, save.
If you want tocreatetheseroutesfromscratchinanewproject then what you do iscreate
newroutescalled GPATHand VPATH. At the pickup position useinsert position tolearn
that. Then progressivelymoveupwardson Zusing 'insert position'eachtimesothat the
pickup position endsup asline 4(ormore). Then when you RUN the routeit startswell
clearand finishesat the pickup position.
Open toolchanger.ed2 asafile, copyall the text and insert it intoyournewed2 text
window. Aftercreating and teaching VPATHand/orGPATHyou will need toreload the
project toget the definitionsof LOCKand UNLOCK, PUTVACetc.