Related Manuals for SCHUNK EGH
Summary of Contents for SCHUNK EGH
- Page 1 Translation of original software manual Software manual Flexible gripper EGH for cobot SCHUNK software module for URCap...
- Page 2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 1433429 Version: 04.00 | 20/01/2022 | en...
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Page 3: Table Of Contents
EGH position ....................... 19 EGH color light band................... 21 Monitoring the gripper status ................. 22 Setting the Tool Center Point (TCP) and gripper weight........... 24 Example of a robot program ................... 25 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 4: General
Prerequisite for an action ■ 1. Action 1 2. Action 2 Intermediate results ✓ Final results ✔ } 1.2 [/ 4]: chapter number and [page number] in hyperlinks 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 5: Presentation Of Warning Labels
• Software guide "SCHUNK gripper with IO-Link" * • Operating manual for the UR robot The documents labeled with an asterisk (*) can be downloaded from schunk.com/egh-downloads. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 6: Functional Description Of "Urcap
To avoid compatibility problems, check the operating software of the UR control unit before using "URCap" and update it if necessary. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 7: Installing The Software Module
USB stick. 2. Connect the USB stick to the robot control system. The USB interface is located at the back. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 8 Installing the software module 3. Switch on the robot control system. The robot control system is started. ✓ 4. Open the menu at the top right and choose "Settings". 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
- Page 9 2. Select the "System" button in the left menu. A sub-menu opens. ✓ 3. Select the "Network" button. The network settings are displayed in the Explorer window ✓ on the right. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
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Page 10: Uninstalling The Software Module
3. Select the "URCaps" button. 4. Select software module "SCHUNK Gripper". 5. Select the "-" button. 6. Select the "Restart" button to complete the deinstallation. The system restarts. ✓ 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 11: Configure The Software Module
3. Select the "SCHUNK EGH Gripper" button. The Explorer window displays the settings to be configured ✓ and an image of the product. 4. Perform the configuration. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 12: Configuring The Ip Address
In order for a gripper to be used automatically in a program after autoconnecting, an error must be acknowledged twice in the preprogram with a short delay. Afterwards, the gripper must still be referenced. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 13: Configuring The Referencing Of The Gripper
The product moves in a set direction up to the mechanical ✓ end stop, zero position is set. 3. Select the "Stroke measurement" button. Maximum stroke is determined ✓ 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 14: Configuring Digital Outputs For The Light Band
4.6 Info button Pressing the Info button displays general information such as the software and hardware version of the gripper. Reading out the data takes several seconds. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 15: Creating The Robot Program
– Quick stop – Referencing – Acknowledging • EGH grip (or EGH release) • EGH position travel (or EGH relative travel) • EGH color light band 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 16 1. Select a command. The action has been added to the robot program. ✓ 2. Select the "Execute" button to test the action. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
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Page 17: Egh Grip
Gripping force 25%, 50%, 75% Percentage of the maximum or 100% gripping force used for the current grip. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 18 1. Select "Gripping" or "Releasing". 2. Set gripping parameters. The action has been added to the robot program. ✓ 3. Select the "Execute" button to test the action. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
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Page 19: Egh Position
If the action "EGH position" is interrupted by a blockage, the drive switches off and an error message requiring acknowledgment is generated. The actuator remains de-energized until the next motion command. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 20 3. If necessary, select "Wait for command to complete". The action has been added to the robot program. ✓ 4. Select the "Execute" button to test the action. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
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Page 21: Egh Color Light Band
Creating the robot program 5.4 EGH color light band • Select the desired color in the drop-down menu or select "OFF" to deactivate the light band. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 22: Monitoring The Gripper Status
2: Maintenance required 3: Ready for operation IOL_is_referenced( True / False True: Gripper is referenced False: Gripper is not referenced Note: The gripper should always be referenced within a program. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 23 The next action in the robot program is then executed. 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429...
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Page 24: Setting The Tool Center Point (Tcp) And Gripper Weight
If a workpiece with a certain weight is gripped, the total useful load can be dynamically adjusted within the robot program under "Program" > "Basic" > "Adjust". 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... -
Page 25: Example Of A Robot Program
(line 20) and a notification popup (line 21). If the user decides to continue the program, the robot arm moves to the starting position Start_Robot_Pos (line 23). 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429... - Page 28 Translation of original software manual SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2399 info@de.schunk.com schunk.com Folgen Sie uns I Follow us...
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