YASKAWA Smart Series Application Note
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YASKAWA Smart Series Application Note

Robotiq 2-finger gripper
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Robotiq 2-Finger Gripper Application Note
for SMART Series Robots by Yaskawa
Version 1.00
Andrew Boddiford
11/19/2018

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  • Page 1 Robotiq 2-Finger Gripper Application Note for SMART Series Robots by Yaskawa Version 1.00 Andrew Boddiford 11/19/2018...

  • Page 2: Document Revision Information

    DOCUMENT REVISION INFORMATION Version Date Document Changes Number 11/19/18 1.00 Initial version for SMART Series Robots by Yaskawa Page | 2...

  • Page 3: Table Of Contents

    Installation of Robotiq Universal Controller ................... 11 Network Configuration ........................... 13 Change IP Address of Robotiq Gripper ....................15 Change IP Address of SMART Series Robot Controller ................18 EtherNet/IP Configuration on SMART Series Controller ................. 20 External I/O Allocation for Gripper ......................26 Load Robotiq Files &...

  • Page 4: Requirements

    REQUIREMENTS HARDWARE REQUIREMENTS Item # Part/Version # Name/Description Varies Yaskawa SMART Series Robot (GP7, GP8, HC10/HC10DT, or GP12) Varies Yaskawa SMART Series Controller (YRC1000 or YRC1000micro) Yaskawa SMART Pendant AGC-GRP-002 Robotiq 2-Finger Gripper (85 or 140mm travel) UNI-CTR-001-ENIP Robotiq Universal Controller, EtherNet/IP Configuration...

  • Page 5: Software Requirements

    Yaskawa Software Pendant (PC) (.exe included on SMART Pendant) 1.7.2 Robotiq User Interface Software (PC) IONAME.DAT Yaskawa I/O Name File for Robotiq 2F Gripper (Controller Dependent) ROBOTIQ-2F.JBI Yaskawa Sample Job to Control Robotiq 2F Gripper (Reference Only) SUPPORTING DOCUMENTATION Item #...

  • Page 6: Process Overview

    PROCESS OVERVIEW The diagram below illustrates the process required to integrate a Robotiq 2F gripper with a SMART Series Robot by Yaskawa. The icons below each column represent the software platform required to complete each group of actions. Page | 6...

  • Page 7: Installation & Setup

    INSTALLATION & SETUP This document includes the process for integrating a Robotiq 2-Finger gripper with a Yaskawa SMART Series Product (i.e. Robot, Controller, & Smart Pendant). Instructions for both the YRC1000 & YRC1000micro robot controllers are included. This process assumes the user has the following items: Properly installed SMART Series robot by Yaskawa Properly configured YRC1000 installed &...

  • Page 8: Mechanical Installation Of Gripper

    A coupling is required to attach the Gripper to the robot. Be sure to use the coupling related to your Yaskawa robot model. Some couplings may require an additional adapter plate. To create your own coupling or adapter plate you can refer to the Coupling section. To see the details of the available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section.
  • Page 9 SMART Series Robot Tool Flange Details Page | 9...

  • Page 10: Electrical & Network Installation Of Gripper

    ELECTRICAL & NETWORK INSTALLATION OF GRIPPER A high level view of the electrical installation for the Robotiq 2-Finger gripper with a Yaskawa robot is provided below. 1. Install Robotiq Universal Controller configured for EtherNet/IP a. Prepare a DC power supply (24V, 2A+) to power the Robotiq gripper and its controller b.

  • Page 11: Installation Of Robotiq Universal Controller

    INSTALLATION OF ROBOTIQ UNIVERSAL CONTROLLER Please review the “Robotiq Universal Controller Instruction Manual” before proceeding, with particular attention to the following sections:  Section 1 General  Section 2.1 Safety  Section 2.2 Intended Use  Section 3.4 Power Supply Specifications ...
  • Page 12 Route and Connect Gripper Cable Route the gripper cable along the exterior of the arm using a secure attachment method. Be sure to leave extra slack in the cable to allow for joint movement and rotation. The full movement range of each axis should be tested before programming an application (see the robot model’s datasheet for maximum allowable travel for each axis).

  • Page 13: Network Configuration

    NETWORK CONFIGURATION An Ethernet network will be used to establish communication between the SMART Series robot controller and the Robotiq 2F gripper. Using the diagrams below, connect an Ethernet cable from the networking port of the robot controller (LAN2 on YRC1000, LAN on YRC1000micro) to an installed Ethernet switch.
  • Page 14 ETH0 port on Universal Controller ⑤ Ethernet switch: Universal Controller connection ⑥ Ethernet switch: LAN connection from SMART Series robot controller ⑦ Ethernet switch: Connection to workcell network for other devices ⑧ USB port on Universal Controller (e.g. used configure gripper IP address)

  • Page 15: Change Ip Address Of Robotiq Gripper

    CHANGE IP ADDRESS OF ROBOTIQ GRIPPER The default IP address of the Robotiq 2F gripper is 192.168.1.11. If required, use the following steps to change the gripper’s IP address to one that is compatible with the desired network. 1. Power ON the Universal Controller that is connected to the Robotiq 2F gripper 2.
  • Page 16 4. Select the {EtherNet/IP} tab 5. Under Parameters, change {IP Address} to the LAN2 network address reserved for the gripper on the YRC1000 controller (192.168.1.11 is factory default setting) change the address to a different IP address that will be used for the LAN connection to the YRC1000 controller. Page | 16...
  • Page 17 6. Click {Apply} to register the new gripper IP address. See Section “Configure YRC1000 IP Address for Communication with Gripper” for instructions to change LAN/LAN2 address on the controller. This example is 10.7.3.45 LAN2 -match the address here with address for LAN2 in the YRC1000 controller.

  • Page 18: Change Ip Address Of Smart Series Robot Controller

    The IP address of the robot controller should be compatible with the IP address of the gripper and potentially other devices on the same network. This can be configured using Yaskawa’s Software Pendant. For basic information on using Software Pendant, see Chapter 12 of the “Smart Pendant Instructions”...
  • Page 19 3. Under “LAN Interface Setting”, change the “IP Address” for LAN2 on the YRC1000. On YRC1000micro, there will only be one “IP Address” to choose from. Verify that “Manual Setting” is selected to use the newly configured IP address. 4. Press {ENTER} on the pendant to save the new setting(s). A “Modify?” dialog should appear. Optional: To test the new address, reboot the robot controller to exit Maintenance Mode.

  • Page 20: Ethernet/Ip Configuration On Smart Series Controller

    ETHERNET/IP CONFIGURATION ON SMART SERIES CONTROLLER A SMART Series robot controller can be configured as either an EtherNet/IP Adapter or Scanner. Configuring the controller as an Adapter allows a connection to be established with another controller and is most often used to communicate with PLCs. Configuring the controller as a Scanner allows it to communicate with peripheral devices (e.g.
  • Page 21 Select an empty Device slot (if no devices are present, the list will be empty) and press {SELECT}. This will open a screen that has the basic configuration information for the device. Chose and name for the gripper (e.g. ROBOTIQ 2F). Use {Enter} on the keypad (and not {Register}) to save the name. Page | 21...
  • Page 22 Enter the remaining “Device Information” exactly as it appears below for the default Robotiq 2F configuration with a SMART Series controller. See the EtherNet/IP manual (specific to controller type) for more information on these parameters. NOTE: Before leaving this screen, press {Enter} to save the new configuration. A “Modify?”...
  • Page 23 On this screen, first verify that the board is set to “USED”. Contact Yaskawa if this is set to “NOT USED”. Next, highlight the “Scanner DETAIL” row and press {SELECT}. Page | 23...
  • Page 24 The next screen will show a list of registered Scanner devices (empty by default). Highlight an unused device and press {SELECT}. Press {SELECT} again to {MODIFY} this entry. On the next screen, highlight the desired device (e.g. “Robotiq 2F”) and press {SELECT}. “Robotiq 2F”...
  • Page 25 Press {ENTER} on the pendant. The screen will return to the EtherNet/IP (CPU Board) screen. “IO Size (In/Out)” should now read 24+ bytes if the previous steps were executed properly  24 bytes are allocated for communication with the Robotiq gripper ...

  • Page 26: External I/O Allocation For Gripper

    EXTERNAL I/O ALLOCATION FOR GRIPPER On the next screen, change “Allocation Mode” to “Manual” and press {ENTER} again. This will open the External I/O Allocation (Input) screen for the Robotiq gripper. External I/O Allocation is a way to assign where the I/O associated with a certain device will be mapped. This allows a user to customize how this I/O will be shown on Smart Pendant (e.g.
  • Page 27 For Robotiq, 24 bytes of EtherNet/IP Input data should be mapped to 20070. See differences above. To complete the default setup for Robotiq 2F gripper on a SMART Series Robot, edit the 5 digit entries on the “External IO Allocation (INPUT)” screen to match the content and order of the values highlighted in red below before proceeding.
  • Page 28 Depending on the controller’s configuration, the 5 digit I/O value for some entries may not be initialized. This is indicated by “# - - - - -“. {Select} one of these values to initialize all entries using {INIT}. This will then allow the user to {MODIFY} the entry as shown above.
  • Page 29 For the Robotiq 2F gripper, 20 bytes of EtherNet/IP Output data should be mapped to 30070. See differences in the table above. Similar to the process for External Inputs, edit the 5 digit entries on the “External IO Allocation (OUTPUT)” screen to match the content and order of the values highlighted in red below before proceeding.
  • Page 30 Save EtherNet/IP Configuration Resets are required for controllers with Safety and/or PFL boards. A “Safety Board Flash Reset” is required to SAVE changes made to the EtherNet/IP configuration on a SMART Series controller with the Functional Safety Unit (FSU) option.
  • Page 31 If the SMART Series robot is equipped with Power and Force Limiting (PFL) technology, a “PFL Board FLASH Reset” will also be required. In Security Level = “Safety”, scroll to this entry and press {SELECT}. A dialog appears: {Reset?} → {Yes} Restart the robot controller (~2-3 minutes) after all resets are complete to exit Maintenance Mode.

  • Page 32: Load Robotiq Files & Verify I/O Allocation

    Robotiq 2F IONAME.DAT file using an appropriate application (e.g. WinMerge). Load IONAME.DAT Instructions 1. Load YASKAWA supplied IONAME.DAT and ROBOTIQ-2F.JBI files onto the root folder of a USB storage device for the applicable SMART Series controller (YRC1000 or YRC1000micro) 2.
  • Page 33 5. Press {COPY FILES TO CONTROLLER} to copy the I/O Names for Robotiq to the pendant 6. Prompt for “File Transfer to Controller Confirmation” appears – Select {YES} 7. A status bar for “copying files to controller” will appear with a confirmation when complete Load ROBOTIQ-2F.JBI Instructions While on the File Transfer Screen with the USB storage device inserted: Select {To Controller} as the File Destination...
  • Page 34 2. “Input Display Settings” window appears - this allows the user to filter varying types of allocated inputs on the I/O screen  Verify the {Groups} button is checked  Select the checkbox next to “ROBOTIQ 2F” (or another name specified by the user during setup) for the Robotiq 2F gripper.
  • Page 35 Gripper Register Mapping The Robotiq 2F gripper has internal memory that is shared with the robot controller. One block of memory is dedicated to robot outputs (i.e. gripper actions). The other is dedicated to robot inputs (i.e. gripper status). The robot controller can then perform two types of actions: 1.

  • Page 36: Verify Gripper Communication And Operation

    VERIFY GRIPPER COMMUNICATION AND OPERATION 1. On the I/O screen, select {Outputs} tab 2. Select the {Enable toggle} checkbox and toggle the “Activate /rACT” bit ON 3. Select {Inputs} tab. Verify the “Activated? /gACT” bit is ON 4. Return to the {Outputs} tab. Select the {Enable toggle} checkbox and toggle the “Go To Pos /rGTO”...

  • Page 37: Define Physical Properties Of Gripper On Smart Pendant

    DEFINE PHYSICAL PROPERTIES OF GRIPPER ON SMART PENDANT The physical properties of the Robotiq 2F gripper must be defined on Smart Pendant for various features to work properly, including but not limited to:  Robot Tool Center Point (TCP). Used for: o Jogging Behavior o User Frames o Zones...
  • Page 38 This can be accomplished using detailed CAD models or calculated manually. Instructions for how to calculate this manually are included in Section 8.4.3 of the Yaskawa Controller Instructions Manual.  All physical properties of both tool states should be different unless the workpiece is very small/light.
  • Page 39 The detail panel for the “empty” Robotiq gripper state are shown below. Page | 39...

  • Page 40: Programming With Smart Pendant

    PROGRAMMING WITH SMART PENDANT The Robotiq 2F gripper is capable of picking a wide variety of shapes by means of fingers that automatically adapt to the shape of the object manipulated. This adaptation can be a “parallel grasp” or an “encompassing grasp”. Additionally, the gripper is capable of “external” and “internal” grasps. A visual example of each is provided below.

  • Page 41: Inform Jobs: Single Or Nested Programs

    INFORM JOBS: SINGLE OR NESTED PROGRAMS The CALLJOB command can be leveraged on Smart Pendant to achieve the following: 1. User creates a “sub-job” with all logic required to operate the gripper (e.g. Robotiq-2F) 2. User creates a “master-job” (e.g. Robotiq-Master) that opens/closes the gripper using a single line to call sub-job (CALL Job: Robotiq-2F) with the following user-customizable parameters: ...
  • Page 42  Assigns parametric data to “local variables” specific to the “Robotiq-2F.JBI sub-job for gripper analysis operation. Local variables can be accessed and configured using the “Settings” button on the top-left of the INFORM screen  Checks if gripper is activated. Attempts to activate if the gripper is inactive ...

  • Page 43: Block I/O: Application Setup And Programming

    BLOCK I/O: APPLICATION SETUP AND PROGRAMMING A Block I/O setting can be created to control a tool with a pair of states (e.g. OFF/ON). The user can insert a sequence of commands for each state that will be used frequently during programming. These “blocks”...
  • Page 44  Timers can be used at the start/end of a setting to ensure actions are properly activated  DigitalOut OT#49 is the gripper activation bit on the YRC1000micro  DigitalOut OG#11 is the commanded gripper speed on the YRC1000micro  DigitalOut OG#12 is the commanded gripper force on the YRC1000micro ...
  • Page 45 5. Create a link between the active tool (i.e. Tool #10) and the Block I/O setting that was just created. Navigate to {Robot Settings} → {Tools} from the Main Menu and select the “Block I/O” setting created for controlling the Robotiq gripper from the drop down. 6.

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