KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05)

Installation

Return back in the menu to

Signal Allocation

Allocate Signals to Ports

Ensure the following signals are selected ( ) as

SLA

(Slave) signals:

•

33-545 to Output

•

1033-1545 to Input

To go to next page press

and continue all the way down to 545/1545.

Installation

F series controller

Press the

button then go to

Aux Function

Input/Output Signal > Fieldbus Setting > Software

Ethernet IP setting

IO Communication Setting

Setting 1

and press

ENTER.

Ensure all fields are cleared in

Setting 1

, there should not be any prior saved data.

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

Input/Output Signal > Fieldbus Setting

FB Ports Assignment.

Set

FB1 Port

to 0 and set the

FB2 Port

to 11.

Installation

Return back in the menu to

Input/Output Signal > Number of I/O Signals

Set the

Number of FB2

to 512.

Return back in the menu to

Input/Output Signal > Signal Allocation

Set the following values for the

FB2

•

AS Start No

: 33

•

Port Start No

: 1

•

Num. of Sig

.: 512

Installation

4.4.4

Upload the OnRobot Functions to the robot

In order to make it easier to use the OnRobot products, high level functions have been written
(

OR_Functions.as

) and provided on the USB stick.

Uploading the OnRobot

OR_Functions.as

to the robot using

KRTerm

application:

•

Click

File

Set Current Folder

•

Navigate to where the

OR_Functions.as

file is located and click

•

Connect to robot

•

Type:

load OR_Functions.as

•

Press

Enter

Installation is finished.

Operation

Operation

NOTE:

It is assumed that the Installation has finished successfully. If not, first do
the installation steps in the previous section.

5.1

Overview

In order to make it easier to use the OnRobot products, high level functions have been written into the

OR_Functions.as

file. Some mandatory parameters, which shall be configured, are stored in the first

program (

OR_init.pc()

) in that file

The mandatory parameters are:

;Select Fieldbus (Ethernet/IP) bit offset

OR_R_bitOffset = 32

OR_W_bitOffset = 32

These are the offsets to where the gripper inputs and outputs start. Default is 32 for both.

The

OR_Functions.as

is uploaded to the robot during the installation.

These high-level functions can be used by calling these functions in your program:

CALL OR_RGx_move.pc(instance, width, force, waitfor)

When a function reads information, the value is stored and returned in the last argument:

CALL OR_Gecko_isConn.pc(instance, retVal)

PRINT retVal

All user program must start with calling the

OR_init.pc()

function. It is used to set up which tools are

mounted on the robot, in which configuration. The table for the correct

configNum

value is shown in

the

OR_init.pc

function.

CALL OR_init.pc(configNum)

CAUTION:

Calling the

OR_init.pc()

with parameters that does not match the attached

tool(s) can result abnormal behavior.

Operation

5.2

List of functions

Function name:

OR_init.pc(toolCfgID)

Name

Type

Description

Input:

toolCfgID

integer

Tool configuration ID:

Primary

Secondary

101

RG2-FT

102

RGx

103

VGx

104

Gecko

105

HEX

106

HEX

RGx

107

HEX

VGx

108

HEX

Gecko

109

RGx

VGx

110

RGx

Gecko

111

RGx

112

VGx

RGx

113

VGx

Gecko

114

VGx

Output:

Behavior:

Function to initialize the communication for the currently used tools.
Make sure, that this function is called before using all other function.

Example:

CALL OR_init.pc(104)

Gecko .............................................. 43

HEX ................................................. 45

RG2-FT ............................................ 46

RG2/6.............................................. 50

VG10 / VGC10.................................. 52

Operation

Gecko

Function name:

OR_Gecko_padOut.pc(

instance

wait

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

wait

integer

0: return after command is executed
1: return after pads reached the final position

Output:

Behavior:

Command the pads to move out

Example:

CALL OR_Gecko_padOut.pc(1,0)

Function name:

OR_Gecko_padIn.pc(

instance

wait

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

wait

integer

0: return after command is executed
1: return after pads reached the final position

Output:

Behavior:

Command the pads to move in

Example:

CALL OR_Gecko_padIn.pc(1,0)

Function name:

OR_Gecko_getF.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

Gripper measures the preload force in N

Behavior:

Command the gripper to get the preload force

Example:

CALL OR_Gecko_getF.pc(1, retVal)

Function name:

OR_Gecko_getUS.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

Output:

returnVal

integer

Ultrasonic sensor measures the distance in mm

Behavior:

Command the ultrasonic sensor to get data

Example:

CALL OR_Gecko_getUS.pc(1, retVal)

Operation

Function name:

OR_Gecko_isConn.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

Output:

returnVal

integer

0: gripper is not connected
1: gripper is connected

Behavior:

Check the connection to the gripper

Example:

CALL OR_Gecko_isConn.pc(1, retVal)

Function name:

OR_Gecko_isPart.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

Output:

returnVal

integer

0: part is not detected
1: part is detected

Behavior:

Check the part detection

Example:

CALL OR_Gecko_isPart.pc(1, retVal)

Function name:

OR_Gecko_padSt.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

Output:

returnVal

integer

0: pads are good
1: pads are worn-out

Behavior:

Check the pads worn-out state

Example:

CALL OR_Gecko_padSt.pc(1, retVal)

Function name:

OR_Gecko_padPos.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration"

Output:

returnVal

integer

0: pads are moved in
1: pads are moved out

Behavior:

Check the pads position

Example:

CALL OR_Gecko_padPos.pc(1, retVal)

Operation

HEX

Function name:

OR_HEX_get.pc(

FT_type

returnVal

)

Name

Type

Description

Input:

FT_type

string

Requested force/torque value. Valid inputs:

“Fx”, “Fy”, “Fz”, “Tx”, “Ty”, “Tz”

Output:

returnVal

integer

Requested force/torque value. Forces are in N, torques
are in Nm

Behavior:

Get actual force/torque value form the HEX sensor.

Example:

CALL OR_HEX_get.pc("Fx", retVal)

Function name:

OR_HEX_zero.pc()

Name

Type

Description

Input:

Output:

Behavior:

Command the HEX sensor to set the values to zero. (The actual force/torque
values will be zero.)

Example:

CALL OR_HEX_zero.pc

Function name:

OR_HEX_unzero.pc()

Name

Type

Description

Input:

Output:

Behavior:

Command the HEX sensor to set the values to default

Example:

CALL OR_HEX_unzero.pc

Function name:

OR_HEX_isConn.pc(

returnVal

)

Input:

Name

Type

Description

Output:

returnVal

integer

0: sensor is not connected
1: sensor is connected

Behavior:

Check the connection to the sensor

Example:

CALL OR_HEX_isConn.pc(retVal)

Operation

RG2-FT

Function name:

OR_RG2FT_move.pc(

width, force, wait

)

Name

Type

Description

Input:

width

integer

Define the distance in mm

force

integer

Define the grip force in N

wait

integer

0: return after command is executed (without waiting
for gripper fingers move)
1: return after fingers reached the position

Output:

Behavior:

Move the gripper fingers

Example:

CALL OR_RG2FT_move.pc(70, 35, 1)

Function name:

OR_RG2FT_stop.pc()

Name

Type

Description

Input:

Output:

Behavior:

Command to stop the gripper motion

Example:

CALL OR_RG2FT_stop.pc

Function name:

OR_RG2FT_pOfAct.pc()

Name

Type

Description

Input:

Output:

Behavior:

Set the actual values as offset for proximity sensors. (The current distance value

Example:

CALL OR_RG2FT_pOfAct.pc

Function name:

OR_RG2FT_pOfVaL.pc(

valueL, valueR

)

Name

Type

Description

Input:

valueL

integer

Left proximity custom offset value in mm

valueR

integer

Right proximity custom offset value in mm

Output:

Behavior:

Sets the custom offset values for proximity sensors

Example:

CALL OR_RG2FT_pOfVaL.pc( 10, 15)

Operation

Function name:

OR_RG2FT_hxZr.pc()

Name

Type

Description

Input:

Output:

Behavior:

Zeroing the HEX sensors (actual force/torque values will be zero).

Example:

CALL OR_RG2FT_hxZr.pc

Function name:

OR_RG2FT_hxUnzr.pc()

Name

Type

Description

Input:

Output:

Behavior:

Unzero

the values of the HEX sensors (don’t use any offset, reset to the original

values)

Example:

CALL OR_RG2FT_hxUnzr.pc

Function name:

OR_RG2FT_gtLPrx.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

Left proximity sensor measured distance in mm

Behavior:

Get left proximity sensor value

Example:

CALL OR_RG2FT_gtLPrx.pc(retVal)

Function name:

OR_RG2FT_gtRPrx.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

Right proximity sensor measured distance in mm

Behavior:

Get right proximity sensor value

Example:

CALL OR_RG2FT_gtRPrx.pc(retVal)

Operation

Function name:

OR_RG2FT_getHex.pc(

FT_type

returnVal

)

Name

Type

Description

Input:

FT_type

string

Requested force/torque value. Valid inputs:

“Fx”, “Fy”, “Fz”, “Tx”, “Ty”, “Tz” (F/T values)

Output:

returnVal

integer

Requested force or torque value. Force values are in
1/10N, torque values are in 1/100Nm.

Behavior:

Get force/torque value from HEX sensors

Example:

FT_type = “Fz”

‘get left HEX force value on Z axis

CALL OR_RG2FT_getHex.pc("Fz", retVal)

Function name:

OR_RG2FT_getWid.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

Gripper actual width in mm

Behavior:

Get gripper fingertip actual width

Example:

CALL OR_RG2FT_getWid.pc(retVal)

Function name:

OR_RG2FT_isConn.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

0: gripper is not connected
1: gripper is connected

Behavior:

Check the connection to the gripper

Example:

CALL OR_RG2FT_isConn.pc(retVal)

Function name:

OR_RG2FT_isBusy.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

0: gripper is idle
1: gripper is busy

Behavior:

Check the gripper status

Example:

CALL OR_RG2FT_isBusy.pc(retVal)

Operation

Function name:

OR_RG2FT_isGrip.pc(

returnVal

)

Name

Type

Description

Input:

Output:

returnVal

integer

0: grip is not detected
1: grip is detected

Behavior:

Check the grip presence

Example:

CALL OR_RG2FT_isGrip.pc(retVal)

Operation

RG2/6

Function name:

OR_RGx_move.pc(

instance, width, force, wait

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

width

integer

Define the distance in mm

force

integer

Define the grip force in N

wait

integer

0: return after command is executed (without waiting
for gripper fingers move)
1: return after fingers reached the position

Output:

Behavior:

Move the gripper fingers

Example:

CALL OR_RGx_move.pc(1, 50, 20, 1)

Function name:

OR_RGx_isConn.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

0: gripper is not connected
1: gripper is connected

Behavior:

Check the connection to the gripper

Example:

CALL OR_RGx_isConn.pc(1, retVal)

Function name:

OR_RGx_isGrip.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

0: grip not detected
1: grip detected (something gripped)

Behavior:

Check grip

Example:

CALL OR_RGx_isGrip.pc(1, retVal)

Operation

Function name:

OR_RGx_isBusy.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

0: idle
1: busy (fingers still moving)

Behavior:

Check, that is gripper busy or not

Example:

CALL OR_RGx_isBusy.pc(1, retVal )

Function name:

OR_RGx_isSSOn.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

0: safety switch not triggered, normal operation
1: safety switch triggered, gripper disabled

Behavior:

Check safety switch status

Example:

CALL OR_RGx_isSSOn.pc(1, retVal)

Operation

VG10 / VGC10

Function name:

OR_VG10_grip.pc(

instance, vacuumA, vaccumB, wait

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

vacuumA

integer

Required vacuum level for channel A in %, set 0 to
release

vacuumB

integer

Required vacuum level for channel B in %, set 0 to
release

wait

integer

Wait until the vacuum reach the required level

0: don’t wait for vacuum

1: wait until the vacuum reach the required level

Output:

Behavior:

Set the required vacuum for channels or release the part gripped

Example:

CALL OR_VG10_grip.pc(1, 20 , 20, 1)

Function name:

OR_VG10_getVacA.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

Integer

Vacuum level of A channel in %

Behavior:

Get actual vacuum level of A channel

Example:

CALL OR_VG10_getVacA.pc(1, retVal)

Function name:

OR_VG10_getVacB.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

Integer

Vacuum level of B channel in %

Behavior:

Get actual vacuum level of B channel

Example:

CALL OR_VG10_getVacB.pc(1, retVal)

Operation

Function name:

OR_VG10_setCur.pc(

instance

current

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

current

integer

Current limit for VG10 in mA. Valid in 100-1000 mA
range.

Output:

Behavior:

Set current limit for VG10

Example:

CALL OR_VG10_setCur.pc(1, 600)

Function name:

OR_VG10_getLim.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

Current limit in mA

Behavior:

Get actual current limit

Example:

CALL OR_VG10_getLim.pc(1, retVal)

Function name:

OR_VG10_isConn.pc(

instance

returnVal

)

Name

Type

Description

Input:

instance

integer

1: single or primary - in dual configuration
2: secondary in dual configuration

Output:

returnVal

integer

0: gripper is not connected
1: VG10 is connected
2: VGC10 is connected

Behavior:

Check the connection to the gripper

Example:

CALL OR_VG10_isConn.pc(1, retVal)

Detailed description on the EtherNet/IP Assembly Instances (what values can be read and write) can be
found in the

EtherNet/IP

section.

Installation

Installation

6.1

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.

6.2

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.

6.2.1

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

6.2.2

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

6.2.3

Tools

Gecko .............................................. 60

RG2 ................................................. 61

RG2-FT ............................................ 62

RG6 ................................................. 63

VG10 ............................................... 64

VGC10 ............................................. 64

Quick Changer - Tool side ................. 65

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.

KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05) - page 2