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R12 Tool Changer instructions page 1 ST robotics

R12 Tool Changer instructions.

WARNING: PROGRAMMING AND SETTING UP THE R12 TOOL CHANGER SYSTEM

IS NOT TRIVIAL.

Be prepared to crash the robot and restart a few times.

Please read the R12 manual and the getting started manual to gain experience before using the tool

changers. The user should be familiar with projects and routes before starting. Leave a tool attached to the

robot by hand until you have mastered accurate positioning.

Overview

The pneumatic devices comprise a pneumatic gripper, a vacuum pickup with 4 cups and a tool changer

system. The robot can pick up either the vacuum pickup or the pneumatic gripper or an electric gripper (or

any other device) with the tool changer. The tool not in use is parked on a rack.

Pneumatic gripper and vacuum pickup valve cicuit

THIS ITEM IS MOUNTED ON A BASE WITH TEMPORARY CONNECTIONS FOR TESTING ONLY

Re-house in your industrial cabinet if this is an industrial application.

The pneumatics circuit comprises 3 valves and a Venturi to produce vacuum. See diagram below. Connect

to the robot base as indicated on the robot.

Diagram 1

Port 2 of valve V2 is blocked off. When all valves are off there is no air flow.

If there is no vacuum pickup then the Venturi and valve V2 will be missing and valve V1 will be

blocked off at port 3. See diagram 3.

Summary of content (13 pages)

PAGE 1
R12 Tool Changer instructions page 1 ST robotics R12 Tool Changer instructions. WARNING: PROGRAMMING AND SETTING UP THE R12 TOOL CHANGER SYSTEM IS NOT TRIVIAL. Be prepared to crash the robot and restart a few times. Please read the R12 manual and the getting started manual to gain experience before using the tool changers. The user should be familiar with projects and routes before starting. Leave a tool attached to the robot by hand until you have mastered accurate positioning.
PAGE 2
R12 Tool Changer instructions page 2 ST robotics Pneumatic connections to the tool changer for both gripper and vacuum pickup. Diagram 2 Connections for pneumatic gripper are shown as G. The pair G2 on the robot-side adaptor will line up with the similar pair G2 on the tool side adaptor. Connections for the vacuum are shown as V. If there is an electric gripper this would normally be connected through the contacts shown as E1. E2 are spare. Or you can use all 5 connections for other electronic device.
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R12 Tool Changer instructions page 3 ST robotics Once you have the vacuum tool attached then just use GRIP and UNGRIP which operate PA 0 and simultaneously turn on valves V2 and V3. . If you have the gripper attached first do VAC ON then use GRIP and UNGRIP. Don't forget to AIRSTOP before you disengage the tool. If you have the vacuum pickup attached select it with VAC OFF. This may seem counter-intuitive but ensures a safe situation when the controller is switched off.
PAGE 4
R12 Tool Changer instructions page 4 ST robotics Using the tool changer manually To use the tool changer automatically you ideally need to have used the robot with a fixed end effector and learned how to program positions and projects. Therefore it is best to fit a tool onto the robot manually and proceed from there. To do this refer to diagram 4: Diagram 4 Go to the safe position READY for a 5-axis R12 or READY2 for a 6-axis R12.
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R12 Tool Changer instructions page 5 ST robotics WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Take great care in teaching the changer positions. Use a low speed. If you crash the robot turn off power, take back to home and re-calibrate. Notice: th Any damage to the robot 6 axis due to collision is not covered by warranty. How to program the tool changer. Before you start you must set the tool in the unlocked position by hand.
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R12 Tool Changer instructions page 6 ST robotics Jog down carefully At this point use roll (J5 on a 5-axis, J6 on a 6-axis) to align the lock bar with the socket in the tool-side adapter. Watch the guide spikes going in to the holes in the locator flange as well as the lock bar.
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R12 Tool Changer instructions page 7 ST robotics You will also need to move in X and Y axes to get the best fit. You will need to change the increment down to 1mm or even 0.1mm to get the position exact. Once closed with the tool (a small gap is tolerated) exit the jog mode and click 'append position' This is line 1 of your new route: At this point we recommend changing the increment to 5mm. Jog up 5mm.
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R12 Tool Changer instructions page 8 ST robotics Change increment to 9mm. Move up 9mm so that the spikes are still aimed at the holes. Exit Jog, highlight line 1 and click insert position. The target position is now line 3 Change increment to 10mm and move up well clear. Exit Jog and click insert position. The target position is now line 4 with 3 positions above which are the way in, Click line 2 and GoTo/Exec Click line 3 and GoTo/Exec Click line 4 and GoTo/Exec the tool is now together.
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R12 Tool Changer instructions page 9 ST robotics Press the tick button on the teach pad or exit the teach pad and on the route window click append position. This will be line 5 In the above example a total of 90 degrees has been moved. You may see the locator plate tight against the guide spikes. In this case rotate back again a few degrees. Now move up 5mm at a time until the adaptor plate clears the spikes on the rack. At this point the adaptor plate may spring further clockwise.
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R12 Tool Changer instructions page 10 ST robotics The tool must now be moved sideways out of the stand. Press the tick button on the teach pad or exit the teach pad and click append position.
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R12 Tool Changer instructions page 11 ST robotics The route is complete. Test reduce speed for the test 1000 SPEED ! Have your hand over the stop button. Test in the reverse direction This puts the tool back and lifts clear, You have 8 lines. Click line 7 and goto. Then 6,5,4 etc. The robot should unlock the tool and move up. Test in the forward direction. Click line 1, goto, 2 goto etc. The robot now has the tool.
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R12 Tool Changer instructions page 12 ST robotics Why use SEGMENTED mode: CONTINUOUS and SMOOTH are smoother but you can not round the corners before and after rotating in the tool adaptor since it must be fully seated before rotating. If you want to make it smoother create 2 routes for each tool, one for the way in and one for the way out. Recovery If the robot crashes for any reason proceed as follows ENCOFF Use Jog to get away from the accident.
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R12 Tool Changer instructions page 13 ST robotics Programming.