Hiwin 7th Axis Kit Manual de usuario

QUICK START GUIDE

HIWIN 7th Axis Kit for UR

www.

hiwin.de

This Quick Start Guide will get you started with your HIWIN 7th Axis Kit for UR.

We do advise to read the user-manuals before installation.

What is supplied

HIWIN linear axis HT-B/-S

● With belt or ballscrew drive

● Limit switches

● Possibly gearbox

● Robot adapter

● Cable chain

● Cables

● Instruction manuals for HIWIN Linear Axis HT-B/S

● Instruction manual for HIWIN Adapters for Robot Axes

Linear Motion Kit

● Control Box

● SEW servo motor & Drive

● USB with URCap software

● Instruction manuals for Linear Motion Kit (LMK)

LMK updates

To get the latest updates for the Linear Motion Kit:

► Visit www.cobotracks.com/LMK

► Download the latest LMK software and user manual.

Assembly

3.1

Mechanical

► Mount the HIWIN Linear Axis

► Mount the HIWIN Adapter for Robot Axes on the HIWIN Linear Axis

► Attach the motor to the gearbox at the HIWIN Linear Axis

► Mount the UR robot on the carriage

3.2

Electrical

From the control cabinet, the following electrical connections have to be made:

► Motor control: Orange and green cables from the cabinet to the SEW motor

connector

► Data connection: Connect the Ethernet cable coming from the cabinet to the UR

controller box, either directly or through an Ethernet network/switch.

► Sensor connection: Connect the limit switch cables coming from the HIWIN Linear

Axis to the cabinet.

► Safety signals: Connect the bundle of wires coming from the cabinet to the safety

I/Os inside the UR Controller box.

► Grounding wire: connect the grounding wire to the application grounding pin inside

the UR controller box.

URCap Installation

► Instert the USB ﬂ ash drive into the teach pendant

► Go to settings – Systems – URCaps and press the + button

► CoboTrack.urcap will be added to the robot

► Press restart to activate the URCap

Safety setup

The required safety settings can be set in the Installation -> safety -> I/O menu.

For safe operation it is required that:

► “conﬁ g_in[0], conﬁ g_in[1]” is set to “Safeguard Reset”

► “conﬁ g_out[0], conﬁ g_out[1]” is set to “System Emergency Stopped”

► “conﬁ g_out[2], conﬁ g_out[3]” is set to “Robot Moving”

Network setup

When connecting the LMK to an existing network (supporting DHCP) the robot’s network

should be setup using the DHCP method shown in the following image:

The dip switches inside the LMK controller should be set as follows, and make sure DHCP is

enabled by checking, and/or adjusting parameter P785 of the LMK drive:

Def IP: .................................................................................................................... 0

AS: ......................................................................................................................... 1

When connecting the LMK directly to the UR controller box, the robot is to be setup with a

Static Address conﬁguration. The Network detailed settings are to be set as follows:

The dip switches inside the LMK controller should be set as follows:

Def IP: .................................................................................................................... 1

AS: ......................................................................................................................... 0

Conﬁguring installation

The Linear Motion Kit installation can be conﬁgured from:

Installation -> URcaps -> Linear Motion Kit menu.

► Setup the LMK IP-address by pushing the “Find IP”-button.

► Setup Modbus starting register, change as required by other applications running on

the robot.

► Adjust the track length to match the physical track available.

► Adjust the collision threshold as required by the intended application.

► Push the “Connect”-button to start the MODBUS connection to the track.

► Reference the track by pushing and holding the reference button until the connection

status symbol turns green.

 Linear Motion Kit is now ready for use.

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