User Manual

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:
Any damage to the robot 6
th
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.
Go to the safe position
READY for a 5-axis R12 or READY2 for a 6-axis R12.
The robot will end up at a position with the hand over the tool stand, pointing down.
See diagram 4
Find the hard stop which is a small pillar that can move against a stop. Rotate the changer by hand clockwise
as far as it will go, with the pillar against the stop. This is essential. If at any time this gets moved while not
holding a tool then you must set it again by hand.
Start a new project and create new routes. As a suggestion start with a route called TOOL1
Do not use ALIGN (enter NONALIGN)
Starting with the gripper, in RobWin click routes, new, name TOOL1, Cartesian.
Next click the J (jog) button and move the robot over the rack and down towards the first tool (in this example
it is an E3 electric gripper) using the teach pad in Jog mode. To exit Jog mode press esc. If you are using
the Nexus 7 teach console then to exit press the stop button on the screen.