GRIPPER INSTALLATION INSTRUCTIONS

Transcription

1 INSTRUCTIONS GRIPPER INSTALLATION INSTRUCTIONS SMC GRIPPER = LEHZ40K2-30A-R51P1 SMC GRIPPER CONTROLLER = LECP6P1-LEHZ40K2-30A These are the installation instructions for attaching a SMC LEHZ40 gripper to the Rollon Motion Box. Please note that the grippers, wires, connectors and mounting plates are not included with the Motion Box system. These instructions are meant to be a guide for one type of end effector for Motion Box. If further instruction or guidance for the SMC gripper is needed, please reference the SMC Operations Manual Electric Gripper LEH Series for information on the LEH Series Gripper. If further instruction or guidance is needed for the controller, please reference the SMC Operations Manual Step Motor Controller (Servo/ 24VDC) LECP6 Series. Rollon Corp. Tel: info@rolloncorp.com

2 ATTACH THE GRIPPER TO THE Z-AXIS OF THE MOTION BOX Orientation of the gripper depends on a customer s specific needs. In this tutorial, we assume that the gripper will be picking up parts in the vertical orientation. Create a mounting bracket to attach the gripper to the Z-Axis of the Motion Box. We recommend you use the T-Slots on the side of the Z-Axis to mount the gripper, as shown in the image below. Figure 1 Rollon Corp. Tel: info@rolloncorp.com 2

3 WIRING THE SMC GRIPPER AND CONTROLLER Figure 2 (below) illustrates the configuration for the LECP6P1 controller. In this demonstration, the PC is used to communicate with the gripper. CN1 connects the controller s power supply, and CN2 and CN3 connect the gripper cable. CN4 connects the teaching box, or PLC. CN5 connects to the PLC. (More detailed instructions can be found in the LECP6 Series Controller Operations Manual.) The power supply requires wiring, as does the connection between the power supply and the PLC. Figure 2 The CN5 is directly connected to the PLC using a WAGO I/O replicator box. Each Motion Box is supplied with a WAGO M12 SA-Box and wiring diagram. (Reference Gibson Engineering Drawing GE-10527F-3 for the wiring diagram.) If you re using the Motion Box table features, a direct connection is a good option because it can be incorporated into the motion commands. Rollon Corp. Tel: info@rolloncorp.com 3

4 WIRING FOR THE WAGO BOARD For demonstration purposes, only 2 ouputs are being used. The wires needed from the I/O cables are COM+, COM-, IN0, IN1, SVON, SETON, SETUP and DRIVE. The controller can handle up to 6 inputs and outputs. Figure 3 below will help identify the wires and their functions. Figure 3 Rollon Corp. Tel: info@rolloncorp.com 4

5 In this demonstration, 3 output ports and 1 input port are utilized on the WAGO box. Figure 4 The following images and table show which pins, inputs and outputs are used. Figure 5 Input/Output Port Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Y1C COM+ IN0 COM- - - Y1D - IN Y1E - DRIVE X0F SVON Table 1 Figure 6 Rollon Corp. Tel: info@rolloncorp.com 5

6 WIRING FOR THE CN1 FOR CONTROLLER POWER Figure 7 INSTALLING AND USING SOFTWARE TO RUN THE GRIPPER For more detailed instructions, use Section 5 from the LEH Series Gripper Operations Manual for setting up parameters. In this demonstration, AT Controller software was used for the SMC gripper and controller. Make sure to read and understand your gripper s parameters to ensure its limits are not exceeded. The following table was constructed in normal mode. Input 1 opens the gripper to 2 mm, and input 2 opens it to 9.9 mm. Once all the data inputs are in, download them to the LEC Controller. Figure 8 Rollon Corp. Tel: info@rolloncorp.com 6

7 Inputs and outputs can be monitored anytime on the PC as the program is runing, as demonstrated in Figure 9. Figure 9 When setting up Motion Box for the first time, the SETUP needs to be turned on. The inputs and outputs that should be on when the gripper and controller are first powered on are highlighted in blue below. Figure 10 Rollon Corp. Tel: info@rolloncorp.com 7

8 TABLE CONNECTION PROGRAMMING INSTRUCTIONS Starting from the Motion Box main screen, we suggest setting OVERRIDE to 10%. (This will make the Motion Box move at 10% of the programmed speed during testing.) After setting the OVERRIDE, click the SETUP box. Figure 11 Click the POINT SETUP box. Figure 12 Create a point. Figure 13 Rollon Corp. Tel: info@rolloncorp.com 8

9 1. Choose a point number that is not being used (Motion Box can hold up to 100 points). 2. Press READ. This imports any saved point data into the HMI, ensuring that the previous point is not being overwritten. 3. Name the point. 4. Choose the point type. Motion Box has many different move types to choose from that can fit your application s needs. Figure Input the move point. This can be done in two ways either by manually entering in the location or by teaching the position. To teach the position, jog the actuators by pressing the TEACH POSITION box. When using the TEACH POSITION function, make sure to select TEACH MAIN POS after jogging the actuators into place. This ensures that the position selected will be entered in as a point, as shown in Figure 14. Use the TEACH SUB POS button for more complicated points, such as arcs. 6. Choose the speed and dwell time for the actuators to reach the desired point. 7. Press SETUP INPUTS/OUTPUTS to operate the gripper. For the output, choose the location noted on the WAGO board. (For demonstration purposes, Output 1F is used.) Turn the OUT ON/OFF to ON or OFF depending on the application. If an input is selected, the Motion Box will wait until that input is switched to ON from another source before executing the point. 8. Once all the data is inputted, press WRITE to save the data. 9. Repeat steps 1-8 for creating additional points needed for your motion profile. Make sure to use a different point number each time to ensure that points are not being overwritten. Figure 15 Rollon Corp. Tel: info@rolloncorp.com 9

10 Once the points have been established, go back to the SETUP screen and select TABLE SETUP. A table can now be established to run the program. Figure 16 The points created earlier can be placed in the TABLE SETUP to create a table/program to run. This program will allow the grippers to open and close, as well as make any moves that were programmed. Figure Find an empty table by using the + and buttons (or erase a current table with the CLEAR ENTIRE TABLE box not in use) and name the table. 2. Choose a point to place in the application by using the + and buttons. 3. Add the points to the table by using the + and buttons at the bottom of the screen to select which row in the table the point will be added to. 4. Press MOVE POINT TO TABLE ROW # to place the point in the table. Note that if there is already an existing point in the table, you can overwrite it. NOTE: Points cannot be inserted between aleady existing points. Rollon Corp. Tel: info@rolloncorp.com 10

11 To run the program, go back to the main page and click AUTO. Figure 18 Select the Table Number that was created earlier by using the + and buttons and press START to run the program. Figure 19 TROUBLESHOOTING The following covers a few basic issues that may be experienced when attaching the SMC LEHZ gripper to the Rollon Motion Box. Actuators will not move when the program is supposed to be running. oo Make sure that the actuators have been homed. Every time Motion Box is powered on, the actuators must be homed. The gripper is not responding when outputs/inputs are triggered, and the LED [ALM] light is red: oo For any alarms/error codes that occur when programming the gripper, please refer to the Operations Manual for the LEH Series, Section 9 for troubleshooting. For other alarms, refer to the Operations Manual for the LEC Series, Section 12 for alarm detection. Rollon Corp. Tel: info@rolloncorp.com 11