Categories: HIWIN

HIWIN HT-B 7th Electric Linear Axis Kit User Guide

HIWIN HT-B 7th Electric Linear Axis Kit

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:

Assembly

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

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: 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:

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.

Documents / Resources

HIWIN HT-B 7th Electric Linear Axis Kit [pdf] User Guide
HT-B 7th Electric Linear Axis Kit, HT-B, 7th Electric Linear Axis Kit

References

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