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ST robotics
R12 Tool Changer instructions
page 1
R12 Tool Changer instructions.
WARNING: PROGRAMMING AND SETTING UP THE R12 TOOL
CHANGER SYSTEM IS NOT TRIVIAL.
Be prepared to crash the robot and restart a few times.
Please read the R12 manual and the getting started manual to gain experience before
using the tool changers.
Overview
Some ROBOFORTH 'code' is supplied with the system, see later.
The pneumatic devices comprise a pneumatic gripper, a vacuum pickup with 4 cups and a
tool changer system. The robot can pick up either the vacuum pickup or the pneumatic
gripper or an electric gripper (or any other device) with the tool changer. The tool not in
use is parked on a rack.
Pneumatic gripper and vacuum pickup
THIS ITEM MAY BE MOUNTED ON WOODEN BASE WITH TEMPORARY
CONNECTIONS FOR TESTING ONLY
The pneumatics circuit comprises 3 valves and a Venturi to produce vacuum. See
diagram below. Connect to the robot base as indicated on the robot.
Diagram 1
Port 4 of valve V2 is blocked off. When all valves are off there is no air flow.
If there is no vacuum pickup then the Venturi and valve V2 will be missing and valve V1
will be blocked off at port 3.
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Summary of Contents for ST Robotics R12
- Page 1 WARNING: PROGRAMMING AND SETTING UP THE R12 TOOL CHANGER SYSTEM IS NOT TRIVIAL. Be prepared to crash the robot and restart a few times. Please read the R12 manual and the getting started manual to gain experience before using the tool changers. Overview Some ROBOFORTH ‘code’...
- Page 2 ST robotics R12 Tool Changer instructions page 2 Pneumatic connections to the tool changer. Diagram 2 connections for pneumatic gripper are shown as G. The pair G2 on the robot-side adaptor will line up with the similar pair G2 on the tool side adaptor. Connections for the vacuum are shown as V.
- Page 3 ST robotics R12 Tool Changer instructions page 3 With no tool locked on the robot at all you need to turn off all the air. So both PA 0 and PA 2 should be off. PA 2 OFF diverts air to the vacuum valve and PA 0 OFF switches the air to the blocked port.
- Page 4 See program below. This will be on your CD as a project, R12TOOLCHANGE.run Go to the safe position READY for a 5-axis R12 or READY2 for a 6-axis R12. The robot will end up at a position with the hand center level with the tool changer, pointing down.
- Page 5 ST robotics R12 Tool Changer instructions page 5 Once closed with the tool (a small gap is tolerated) exit the jog mode and click 'append position' Now move up around 10mm so that the spikes are still aimed at the holes. Exit Jog, highlight the line you just learned and click 'insert position'.
- Page 6 ST robotics R12 Tool Changer instructions page 6 Recovery If the robot crashes for any reason proceed as follows ENCOFF Use Jog to get away from the accident. HOME START CALIBRATE Check/reset the tool to the unlocked position by hand.
- Page 7 ST robotics R12 Tool Changer instructions page 7 ( STARTER PROJECT FOR TOOL CHANGING ON R12. ( USING A PNEUMATIC GRIPPER AND A VACUUM PICKUP DECIMAL : VAC PA 2 ; ( OFF = VAC ON = GRIP : SLOW 1000 SPEED ! ;...
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