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User Guide for HIWIN models including: HT-B 7th Electric Linear Axis Kit, HT-B, 7th Electric Linear Axis Kit
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22 feb 2021 — Instruction manuals for HIWIN Linear Axis HT-B/S. ○ Instruction manual for HIWIN Adapters for Robot Axes. Linear Motion Kit. ○ Control Box.
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DocumentDocumentwww.hiwin.de QUICK START GUIDE HIWIN 7th Axis Kit for UR 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. 1. 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) 2. 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. 3. 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. 2 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. 4. 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 5. 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" 3 6. 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: 4 The dip switches inside the LMK controller should be set as follows: Def IP: ....................................................................................................................1 AS: .........................................................................................................................0 7. 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. 5