KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05) - page 1

Introduction

Contents

Contents ....................................................................................................................................... 2

1 Introduction ............................................................................................................................. 4

1.1  Important Safety Notice ..................................................................................................... 4
1.2  Scope of the Manual .......................................................................................................... 4
1.3  Naming convention ............................................................................................................ 4

1.4 How to read the Manual..................................................................................................... 5

2 Safety....................................................................................................................................... 6

2.1 Intended Use ..................................................................................................................... 6
2.2 General Safety Instructions ................................................................................................. 7

2.3  Risk Assessment ................................................................................................................. 8
2.4  Environmental Safety ......................................................................................................... 8
2.5  PLd CAT3 Safety Function ................................................................................................... 9

3 Operation mode(s) ................................................................................................................. 10

Mode I - OnRobot EtherNet/IP..................................................................................................... 12

4 Installation ............................................................................................................................. 13

4.1 Overview ......................................................................................................................... 13
4.2 Mounting ........................................................................................................................ 13

4.2.1  Adapter(s) .............................................................................................................. 13
4.2.2  Quick Changer options ............................................................................................ 16
4.2.3  Tools...................................................................................................................... 18

4.3 Wiring ............................................................................................................................. 24

4.3.1  Tool data cable ....................................................................................................... 24
4.3.2  Ethernet cable ........................................................................................................ 25
4.3.3  Power supply.......................................................................................................... 26

4.4 Software setup ................................................................................................................ 28

4.4.1  Overview ............................................................................................................... 28
4.4.2  Configure the Compute Box as a Scanner ................................................................. 28
4.4.3  Configure the Robot as an Adapter .......................................................................... 31
4.4.4  Upload the OnRobot Functions to the robot............................................................. 40

5 Operation............................................................................................................................... 41

5.1 Overview ......................................................................................................................... 41

5.2 List of functions ............................................................................................................... 42

Mode II - OnRobot WebLogic ....................................................................................................... 54

6 Installation ............................................................................................................................. 55

6.1 Overview ......................................................................................................................... 55

Introduction

6.2 Mounting ........................................................................................................................ 55

6.2.1  Adapter(s) .............................................................................................................. 55
6.2.2  Quick Changer options ............................................................................................ 58
6.2.3  Tools...................................................................................................................... 60

6.3 Wiring ............................................................................................................................. 66

6.3.1  Tool data................................................................................................................ 66
6.3.2  Digital I/O wires...................................................................................................... 66
6.3.3  Ethernet cable ........................................................................................................ 70
6.3.4  Power supply.......................................................................................................... 71

7 Operation............................................................................................................................... 72

7.1 Overview ......................................................................................................................... 72
7.2 Ethernet Interface setup................................................................................................... 73

7.3 Web Client....................................................................................................................... 75
7.4 OnRobot WebLogic menu ................................................................................................. 77

7.4.1 Browser ................................................................................................................. 77
7.4.2 Program Editor ....................................................................................................... 78

8 Additional Software Options................................................................................................... 84

8.1 Compute Box ................................................................................................................... 84

8.1.1 Interfaces ............................................................................................................... 84
8.1.2 Web Client ............................................................................................................. 84

8.2 EtherNet/IP ................................................................................................................... 103

8.2.1 Available connections and assembly instances ....................................................... 103

9 Hardware Specification......................................................................................................... 131

9.1 Technical sheets............................................................................................................. 131

9.2 Mechanical Drawings ..................................................................................................... 169

9.2.1  Adapter plate(s) ................................................................................................... 169
9.2.2  Mountings............................................................................................................ 174
9.2.3  Tools.................................................................................................................... 178

9.3 Center of Gravity............................................................................................................ 188

10 Maintenance ........................................................................................................................ 190

11 Warranties ........................................................................................................................... 193

11.1 Patents .......................................................................................................................... 193
11.2 Product Warranty .......................................................................................................... 193

11.3 Disclaimer...................................................................................................................... 193

12 Certifications ........................................................................................................................ 194

1.2 Declaration of Incorporation ........................................................................................... 200

Introduction

Introduction

1.1

Important Safety Notice

DANGER:

You  must  read,  understand, and  follow  all  safety  information  in  this
manual,  and  the  robot  manual  and  all  associated  equipment  before
initiating  robot motion. Failure to comply with safety information could
result in death or serious injury.

1.2

Scope of the Manual

The manual covers the following OnRobot products and its components:

Grippers

Version

Gecko Gripper

RG2

RG2-FT

RG6

VG10

VGC10

Sensors

Version

HEX-E QC

HEX-H QC

Where applicable the combination of the products is also covered in the manual.

NOTE:

Generally, the products without the Quick Changer v2 interface, are not
in the scope of this manual.

1.3

Naming convention

In the user manual Gecko Gripper is called Gecko only.

The RG2 and RG6 names as model variants are used separately or together as RG2/6 if the information is
relevant for both variants.

The HEX-E QC and HEX-H QC names as model variants are used separately or together as HEX-E/H QC if
the information is relevant for both variants.

Introduction

1.4

How to read the Manual

The manual covers all OnRobot products and its components that is available for your robot.

To make it easy to follow what type of product (or combination) or component is the given information is
relevant for, the following visual highlights are used:

RG2

This is an instruction relevant for the RG2 product only.

RG2-FT

This is an instruction relevant for the RG2-FT product only.

VG10

This is an instruction relevant for the VG10 product.

All text without these visual marks are relevant for all products or components.

For convenience, in each part that contains visual highlights (that span across pages) a table is provided
in the beginning, to guide you which page contains the relevant information for your product or
component:

RG2 ................................................... 5

RG2-FT .............................................. 5

VG10 ................................................. 5

Safety

Safety

The robot integrators are responsible for ensuring that the applicable safety laws and regulations in the
country concerned are observed and that any significant hazards in the complete robot application are
eliminated. This includes, but is not limited to:

•

Performing a risk assessment for the complete robot system

•

Interfacing other machines and additional safety devices if defined by the risk assessment

•

Setting up the appropriate safety settings in the robot software

•

Ensuring that the user will not modify any safety measures

•

Validating that the total robot system is designed and installed correctly

•

Specifying instructions for use

•

Marking the robot installation with relevant signs and contact information of the integrator

•

Collecting all documentation in a technical file; including the risk assessment and this manual

2.1

Intended Use

OnRobot tools are intended to be used on collaborative robots and light industrial robots with different
payloads depending on the end-of-arm tooling specifications. OnRobot tools are normally use in pick-and-
place, palletizing, machine tending, assembly, quality testing and inspection and surface finishing
applications.

The end-of-arm tooling should only operate under conditions noted in

Technical sheets

section.

Any use or application deviating from intended use is deemed to be impermissible misuse. This includes,

but is not limited to:

•

Use in potentially explosive atmospheres

•

Use in medical and life critical applications

•

Use before performing a risk assessment

•

Use outside the permissible operational conditions and specifications

•

Use close to a human’s head, face and eye area

•

Use as a climbing aid

Safety

2.2

General Safety Instructions

Generally, all national regulations, legislations and laws in the country of installation must be o bserved.
Integration and use of the product must be done in compliance with precautions in this manual. Particular
attention must be paid to the following warnings:

DANGER:

The information in this manual does not cover designing, installing, and
operating  a  complete  robot  application,  nor  does  it  cover  other
peripheral  equipment that  can  influence  the  safety of  the  complete
system.  The  complete  system  must  be  designed  and  installed  in
accordance with the safety requirements set forth in the standards and
regulations of the country where the robot is installed.

Any safety information provided in this manual must not be construed as
a warranty, by OnRobot A/S, that the robot application will not cause
injury or damage, even if robot application complies with all safety
instructions.

OnRobot A/S disclaims any and all liability if any of OnRobot tools tooling
are damaged, changed or modified in any way. OnRobot A/S cannot be
held responsible for any damages caused to any of OnRobot tools tooling,
the robot, or any other equipment due to programming errors or
malfunctioning of any of OnRobot tools.

WARNING:

OnRobot tools are not allowed to be exposed to condensing conditions
when power is on or when connected to a robot. If condensing conditions
appear during transport or storage, the product must be placed between
20 and 40 Celsius degrees for 24 hours before power is applied or before
connected to a robot.

It is recommended that OnRobot tools are integrated in compliance with the following guides and
standards:

•

ISO 10218-2

•

ISO 12100

•

ISO/TR 20218-1

•

ISO/TS 15066

Safety

2.3

Risk Assessment

The robot integrator must perform a risk assessment on the complete robot application. OnRobot tools
are only components in a robot application and therefore they can be only safely operated if the integrator
has considered the safety aspects of the whole application. OnRobot tools are designed with relatively
smooth and round design with a limited amount of sharp edges and pinch points

In collaborative applications, the trajectory of the robot can play a significant safety role. The integrator
must consider the angle of contact with a human body, e.g. orientate OnRobot tools and workpieces so
that the contact surface in the direction of movement is as large as possible. It is recommended that the
tool connectors are pointed in the direction opposite to the movement.

OnRobot A/S have identified the potential hazards listed below as significant hazards that must be
considered by the integrator:

•

Objects flying from OnRobot tools due to loss of grip

•

Objects falling down from OnRobot tools due to loss of grip

•

Injuries due to collisions between humans and workpieces, OnRobot tools tooling, robot or other
obstacles

•

Consequences due to loosen of bolts

•

Consequences if OnRobot tools cable gets stuck to something

•

Workpiece itself represents a hazard

2.4

Environmental Safety

OnRobot A/S products must be disposed of in accordance with the applicable national laws, regulations
and standards.

The product  is  produced with restricted use of  hazardous substances to protect  the environment; as
defined by  the  EU  RoHS  Directive  2011/65/EU.  These  substances  include  mercury,  cadmium,  lead,
chromium VI, polybrominated biphenyls and polybrominated diphenyl ethers.

Observe national

registration

requirements for importers according to EU WEEE Directive 2012/19/EU.

Safety

2.5

PLd CAT3 Safety Function

RG2
RG6

A safety-rated function has been designed as two buttons at the two arms of the product, conforming to
ISO 13849-1 PLd CAT3.

This Safety Function has a max response time of 100 ms and a MTTF of 2883 years.

The behavior of the safety system is described below:

If something activates the two Safety Buttons, see picture below, the safety control system stops motion
of the two arms of the product. Motion is then prevented as long as one or both of the two buttons are
activated.

If this happens while running the robot program, user can detect this condition with the help of the
provided status information and execute any necessary step on the robot.

To come back to normal operation with the gripper there are provided commands to reset the gripper.

CAUTION:

Before resetting the gripper always make sure that no part will be
dropped due to the loss of gripper power. If Dual Quick Changer is used
it will cycle the power for both sides.

For further details refer to the Operation section.

PLd CAT3 Safety Buttons

Operation mode(s)

Operation mode(s)

There are two alternative modes how the device(s) could be used:

Modes of Operation

OnRobot EtherNet/IP

required in the robot: EtherNet/IP
module

OnRobot WebLogic

required in the robot: digital I/O module

OnRobot EtherNet/IP

This mode uses the EtherNet/IP industrial network protocol to operate the grippers/sensor.

EtherNet/IP is a fieldbus that uses the standard Ethernet networking (simple UTP cable, standard network
switch can be used, etc.).

The Compute Box implements an EtherNet/IP Scanner (master device) and requires the robot controller
to implement an EtherNet/IP Adapter (slave device) to operate.

With configurable cycle time (e.g.: 8ms) the Computer Box can "read" and "write" to the robot so the
grippers/sensor can be controlled or monitored.

The communication is implemented via EtherNet/IP Assembly Instances that are created for each product
or product combination (e.g.: RG2+VG10). The instances are containing a set of words (16-bit data) that
can be used to control/monitor the grippers/sensor (e.g.: the 4th word of the Assembly Instance 104 is
the Actual Width for the RG2/6).

There are global functions provided (on the USB stick) to make it easy to access the product features.

OnRobot WebLogic

This mode allows simple Digital I/O communication to be used to operate the grippers/sensor.

For example the Compute Box could be easily programmed to:

•

when one of the robot digital outputs is set to HIGH, then the RG2 gripper opens to 77mm

•

or when the force values measured with the HEX-E QC reach 50N, the Compute Box sends a HIGH
digital output to the robot.

The Compute Box has 8 digital inputs and 8 digital outputs that can be freely configured for any "logic".

In this way the user can configure:

•

eight gripper/sensor controlling functionality (e.g.: set width to X, close, zero, set preload, etc.)

•

and eight gripper/sensor monitoring functionality (e.g.: is grip detected, is preload > 50N, etc.).

Furthermore, the "logic" can be complex, like:

•

is grip detected AND force >20 N

Operation mode(s)

These "logics" can be programmed through the Compute Box's web interface called Web Client. It requires
only a normal computer with a browser.

In this document both modes of operation will be covered and will be referred to as:

•

OnRobot EtherNet/IP

•

OnRobot WebLogic

Mode I - OnRobot EtherNet/IP ......... 12

Mode II - OnRobot WebLogic ........... 54

Operation mode(s)

Mode I - OnRobot EtherNet/IP

Installation

Installation

4.1

Overview

For a successful installation the following steps will be required:

•

Mount the components

•

Wire the cables

•

Setup the software

In the following sections, these installation steps will be described.

4.2

Mounting

Required steps:

•

Mount the robot dependent adapter

•

Mount the Quick Changer option

•

Mount the tool(s)

In the following three subsections these three mounting steps will be described.

4.2.1

Adapter(s)

For RS003N, RS005L, RS005N models

Adapter B

(4 screws)

M5x8 screws (ISO14580 A4-
70)

OnRobot adapter flange (ISO
9409-1-50-4-M6)

Dowel pin Ø5x6 (ISO2338 h8)

Robot tool flange (ISO 9409-1-
31.5-4-M5)

Use 5 Nm tightening torque.

For RS007L, RS007N

Installation

Adapter B

(7 screws)

M5x8 screws (ISO14580 A4-
70)

OnRobot adapter flange (ISO
9409-1-50-4-M6)

Dowel pin Ø5x6 (ISO2338 h8)

Robot tool flange (ISO 9409-1-
31.5-4-M5)

Use 5 Nm tightening torque.

For RS006L, RS010N models

Adapter C

M6x8 screws (ISO14580 A4-
70)

OnRobot

adapter

flange

(ISO 9409-1-50-4-M6)

Dowel pin Ø6x10 (ISO2338 h8)

Robot tool flange (ISO 9409-1-
40-4-M6)

Use 10 Nm tightening torque.

For RS0010L, RS020N, RS015X models

Adapter D

M6x8 screws (ISO14580 A4-
70)

OnRobot adapter flange (ISO
9409-1-50-4-M6)

Dowel pin Ø6x10 (ISO2338 h8)

Robot tool flange (ISO 9409-1-
63-4-M6)

Use 10 Nm tightening torque.

For RS030N, RS050N, RS080N models

Installation

Adapter E

M8x10 screws (ISO14580 A4-
70)

OnRobot adapter flange (ISO
9409-1-50-4-M6)

Dowel pin Ø8x10 (ISO2338
h8)

Robot tool flange (ISO 9409-
1-80-6-M8)

Use 25 Nm tightening torque.

Installation

4.2.2

Quick Changer options

Quick Changer -

Robot Side

Quick Changer - Robot Side

M6x8mm (ISO14580 8.8)

Quick Changer (ISO 9409-1-50-4-M6)

Dowel pin Ø6x10 (ISO2338 h8)

Adapter/ Robot tool flange (ISO 9409-
1-50-4-M6)

Use 10 Nm tightening torque.

Dual Quick Changer

M6x20mm (ISO14580 8.8)

Dual Quick Changer

Dowel pin Ø6x10 (ISO2338 h8)

Adapter/ Robot tool flange (ISO
9409-1-50-4-M6)

Use 10 Nm tightening torque.

Installation

HEX-E/H QC

HEX-E/H QC sensor

M4x6mm (ISO14581 A4-
70)

M6x8mm (NCN20146 A4-
70)

HEX-E/H QC adapter

Adapter/ Robot tool
flange (ISO 9409-1-50-4-
M6)

Use 1.5 Nm tightening torque.
for M4x6mm

Use 10 Nm tightening torque. for
M6x8mm

Installation

4.2.3

Tools

Gecko .............................................. 45

Quick Changer - Tool side ................. 46

RG2 ................................................. 46

RG2-FT ............................................ 47

RG6 ................................................. 47

VG10 ............................................... 48

Gecko

Step 1:

Move the tool close to the Quick
Changer as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part locked
once mounted.

Step 2:

Flip the tool until it is fully mated, and
you hear a clicking sound.

To unmount the tool, press the aluminum
button on the Quick Changer and repeat the
steps in the reverse order.

CAUTION:

With a Dual Quick Changer the Gecko Gripper can only be mounted on
the Secondary (2) side. Mounting on the Primary (1) side will prevent the
devices to function correctly.

Installation

RG2

Step 1:

Move the tool close to the Quick Changer
as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part locked
once mounted.

Step 2:

Flip the tool until it is fully mated, and you
hear a clicking sound.

To unmount the tool, press the aluminum button
on the Quick Changer and repeat the steps in the
reverse order.

To change the relative angle of the gripper
to the Quick Changer:

•

first remove the four M4x6 screws

•

tilt the gripper between -90° and 90°

•

then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.

WARNING:

Never use the device while any of the four M4x6 screws are removed.

Installation

RG2-FT

Step 1:

Move the tool close to the Quick Changer
as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part locked
once mounted.

Step 2:

Flip the tool until it is fully mated, and you
hear a clicking sound.

To unmount the tool, press the aluminum button
on the Quick Changer and repeat the steps in the
reverse order.

To change the relative angle of the gripper
to the Quick Changer:

•

first remove the four M4x6 screws

•

tilt the gripper between -60° and 90°

•

then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.

WARNING:

Never use the device while any of the four M4x6 screws are removed.

Installation

RG6

Step 1:

Move the tool close to the Quick
Changer as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part locked
once mounted.

Step 2:

Flip the tool until it is fully mated, and
you hear a clicking sound.

To unmount the tool, press the aluminum
button on the Quick Changer and repeat the
steps in the reverse order.

To change the relative angle of the gripper
to the Quick Changer:

•

first remove the four M4x6 screws

•

tilt the gripper between -90° and 90°

•

then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.

WARNING:

Never use the device while any of the four M4x6 screws are removed.

Installation

VG10

Step 1:

Move the tool close to the Quick
Changer as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part
locked once mounted.

Step 2:

Flip the tool until it is fully mated, and
you hear a clicking sound.

To unmount the tool, press the aluminum
button on the Quick Changer and repeat the
steps in the reverse order.

VGC10

Step 1:

Move the tool close to the Quick
Changer as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part
locked once mounted.

Step 2:

Flip the tool until it is fully mated, and
you hear a clicking sound.

To unmount the tool, press the aluminum
button on the Quick Changer and repeat the
steps in the reverse order.

Installation

Quick Changer -

Tool side

Step 1:

Move the tool close to the Quick Changer
as illustrated.

The hook mechanism (rod and hook
tongue) will keep the lower part locked
once mounted.

Step 2:

Flip the tool until it is fully mated, and you
hear a clicking sound.

To unmount the tool, press the aluminum button
on the Quick Changer and repeat the steps in the
reverse order.

Installation

4.3

Wiring

Three cables need to be connected to wire the system properly:

•

Tool data cable between the tool(s) and the Compute Box

•

Ethernet communication cable between the robot controller and the Compute Box

•

Power supply of the Compute Box

4.3.1

Tool data cable

First connect the data cable to the tool.

For Single or Dual RG2, RG6, VG10, VGC10 or Gecko Gripper

Use the M8-8pin connector on the Quick Changer
or on the Dual Quick Changer.

Use the cable holder as illustrated on the left.

CAUTION:

Make sure to use the supplied cable
holder to prevent any excessive
strain on the 90-degree M8
connector caused by the rotation of
the cable.

For RG2-FT

For RG2-FT the Quick Changer tool data connector
cannot be used. Instead use the marked M8-4pin
connector

bending radius

extra length

Robot

controller

Installation

For HEX-E/H QC

Use the marked M12-12pin connector on the HEX-E/H QC.

Then route the Tool data cable to the Compute Box (CB) and use the supplied Velcro tape (black) to fix it.

NOTE:

Make sure that during the routing some extra length is used at the joints
so that cable is not pulled when the robot moves.

Also make sure that the cable bending radius is minimum 40mm (for the
HEX-E/H QC it is 70mm)

Finally, connect the other end of the Tool data cable to the Compute Box's DEVICES connector.

CAUTION:

Use only original OnRobot tool data cables.
Do not cut or extend these cables.

CAUTION:

Quick Changer and Dual Quick Changer can
only be used to power OnRobot tools.

4.3.2

Ethernet cable

Connect one end of the supplied Ethernet (UTP) cable to the robot controller's Ethernet (LAN) port as
shown below.

Installation

Kawasaki E Controller

Kawasaki F Controller

Use Port 2 (right one).

Use XLAN Port #2.

NOTE:

If the robot controller's Ethernet port is in use, use a standard 4-port
Ethernet switch to be able to use two network devices at the same time.

Connect the other end of the supplied cable to the Compute Box's ETHERNET connector.

CAUTION:

Use only shielded, maximum 3m long Ethernet cables.

WARNING:

Check and make sure that the Compute Box enclosure (metal) and the
robot controller enclosure (metal) are not connected (no galvanic
connection between the two).

4.3.3

Power supply

Connect the supplied power supply to the Compute Box 24V
connector.

NOTE:

To disconnect the power connector, make
sure to pull the connector housing (where the
arrows are shown) and not the cable.

CAUTION:

Use only original OnRobot power supplies.

Finally, power up the power supply that will power the Compute Box and the connected Tool(s).

Installation

Installation

4.4

Software setup

4.4.1

Overview

There are three steps required to set up the OnRobot device for operation with your robot:

Set up the Compute Box as a Scanner.

Set up the robot as an Adapter.

Upload the OnRobot functions to the robot.

NOTE:

The terms

Scanner, Master,

and

Client

can be used interchangeably.

Here, we will use the term

Scanner

. (E.g. The OnRobot Compute Box is a

scanner.)

The terms

Adapter, Slave,

and

Server

can be used interchangeably. Here,

we will use the term

Adapter

. (E.g. The robot is an adapter.)

NOTE:

Kawasaki controllers do not support explicit messaging.

4.4.2

Configure the Compute Box as a Scanner

NOTE:

Temporarily the Compute Box will be needed to be connected to your
computer.

To configure the Compute Box to be a Scanner you will need to access the Web Client interface of the
Compute Box on your computer. To do that first the Ethernet interface needs to be set up to have a proper
communication between your computer and the Compute Box. It is recommended to use the Auto Mode
(factory default) for IP settings of the Compute Box. For further details on the available IP settings modes
see

Ethernet Interface setup

Then do the following steps:

•

Connect the Compute Box to your computer with the supplied UTP cable.

•

Power the Compute Box with the supplied power supply

•

Wait one minute for the Compute Box LED to turn from blue to green.

•

Open a web browser on your computer and type in the IP address of the Compute Box (factory
default is 192.168.1.1).

Installation

The sign-in page opens:

The factory default administrator login is:

Username

: admin

Password

: OnRobot

For the first login a new password needs to be entered: (password must be at least 8 characters long)

Installation

Once logged in, click on the

Configuration

menu.

Enable the

EtherNet/IP scanner settings

checkbox and set the values as shown above:

•

IP address to connect to

Robot IP address (if default values are used enter 192.168.1.2)

•

Origin-to-target instance id

: 150

•

Target-to-origin instance id

: 100

•

Configuration instance id

: 102

•

Requested packet interval (ms)

: 8

Finally, click the

Save

button to store the new settings.

NOTE:

Now unplug the UTP cable from your computer and plug it back to the
robot.

Installation

4.4.3

Configure the Robot as an Adapter

Refer to

Kawasaki DE General Fieldbus Manual

for detailed instructions.

Ensure that the Fieldbus software option is enabled on the controller.

NOTE:

If Fieldbus software option is not enabled on the controller, contact
Kawasaki for this option.

E series controller ............................ 31

F series controller ............................ 36

E series controller

Press the

button then go to

Aux Function

Input/Output Signal

Signal Allocation

Software

Ethernet IP setting

IO Communication Setting

Setting 1

and press

ENTER.

Installation

Ensure all fields are cleared in

Setting 1

, there should not be any prior saved data.

Return back in the menu to

Software Ethernet IP settings

Port

Setting

Set the IP address of the robot to 192.168.1.2 to match the settings entered in the Compute Box.

NOTE:

The robot IP address and the Compute Box IP address must be in the
same subnet.

Installation

Return back in the menu to

Software Ethernet IP settings

Assembly Display and Setting

Enter 64 bytes for

OutputSignal

and

InputSignal

size.

Return back in the menu to

Signal Allocation

Assign Ports to Physical Interfaces.

Set

Master Port

to 0 and set the

Slave Port

to 12.

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