qbrobotics KUKA LBR iisy Cobot Switch User Guide
- May 15, 2024
- qbrobotics
Table of Contents
qbrobotics KUKA LBR iisy Cobot Switch
What’s inside your box
-
A qb SoftHand Industry
-
B Elmo G-DCWHl25/100EES
important note. qb SoftHand is designed to be mounted on a ISO
9409-1-50-4-M6 flange.
KUKA LBR iisy 3 R760 cobots has a nonstandard flange and a flange plate
adapter is needed (not included in this bundle).
The mounting pattern on the flange at the end of the KUKA LBR iisy 3 R760
robot arm has a nonstandard ISO mounting pattern. Before mounting the qb
SoftHand Industry, you will need to ensure the ISO flange plate adapter is
installed on the robot between the gripper and the flange (depending on your
particular configuration, it may come pre-installed upon delivery). This
adapter is not required for KUKA LBR iisy 11 R1300 and LBR iisy 15 R930
robots.
Mechanical mounting
The mounting pattern on the flange at the end of the KUKA LBR iisy 3 R760 robot arm has a nonstandard ISO mounting pattern. Before mounting the qb SoftHand Industry, you will need to ensure the ISO flange plate adapter is installed on the robot between the gripper and the flange (depending on your particular configuration, it may come pre-installed upon delivery). This adapter is not required for KUKA LBR iisy 11 R1300 and LBR iisy 15 R930 robots.
Wiring
important note. The entire wiring process should be performed without powering the Elmo driver (B). Be sure to complete all steps, including connecting the F-cable to the qb SoftHand Industry, before powering the system.
Digital I/O configuration
After wiring the qb SoftHand Industry, use the I-cable (connected to the Elmo
driver port 2 ) to control the device via Digital 1/0. The wires of this cable
must be
connected to the XG12 connector port on the KUKA KR C5 control system. Refer
to this page for device control via digital ports. Once the connection is
complete, memorize the ports used on the controller and configure the robot to
use them from the intuitive iiQKA user interface. For more information, see
the official KUKA
documentation.
digital inputs
- IN_GND digital inputs ground
- IN_I fully opening at maximum speed
- IN_.2 fully closing at maximum speed and force
- IN_3 fully closing at 25% of speed and maximum force
- IN_4 fully closing at maximum speed and 75% offorce
- IN-5 fully closing at 25% of speed and 75% offorce
- IN_6: correct termination procedure to use before switching off.
digital outputs
- OUT_I O (0VDC) when the motor is stationary;
- OUT _.2 0 (0VDC) when the number of cycles exceeds the maintenance threshold;
- OUT_3 0 (0VDC) when there is on error in the program or in the driver parameters;
- OUT-4 0 (0VDC) when the driver is in protection for some electrical or mechanical problem.
- OUT VDD and OUT GND ore the two references needed to define the 24VDC