Restore Operational Readiness After Gripper Collision - Bosch WS502 Instruction Manual

48/64 Bosch Rexroth AG
Operation of the training system

10.14 Restore operational readiness after gripper collision

During movements of the robot in manual mode there may be collisions of the
gripper with attachments or the cell. This triggers the gripper coupling which holds
the gripper in place with the help of 4 spring-actuated balls. The sensor on the
gripper coupling signals to the control system that the gripper is not correctly
mounted. The system is stopped. The red indicator light on the signal tower
flashes.
To restart the system after a gripper collision proceed as follows:
Check the set speed and reduce it if necessary

Press and hold the illuminated RESET pushbutton on the control cabinet

Move the gripper free in jog mode (for jog mode description see above)

Install the gripper correctly again:

The control pin must point into the direction of the position sensor
–
The 4 spring-loaded ball tensioners must mesh in the groove of the coupling
–
The indicator light of the position sensor must be lit
–
1
2
3
Abb. 21: Gripper coupling
Coupling mount
1
Spring-loaded ball tensioner (total
2
of 4 units)
Coupling slot
3
Robotics Trainings System WS502
4
5
Control pin for sensor
4
Position sensor for "Collision clutch
5
engaged" signal
Illuminated position sensor lamp
6
6