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

June 5, 2024
HIWIN

HIWIN HT-B 7th Electric Linear Axis Kit

HIWIN-HT-B-7th-Electric-Linear-Axis-Kit-PRODUCT

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”

HIWIN-HT-B-7th-Electric-Linear-Axis-Kit-1

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:

HIWIN-HT-B-7th-Electric-Linear-Axis-Kit-2

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:

HIWIN-HT-B-7th-Electric-Linear-Axis-Kit-3

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.

HIWIN-HT-B-7th-Electric-Linear-Axis-Kit-4

Linear Motion Kit is now ready for use.

References

Read User Manual Online (PDF format)

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