MIRKA UR Kit Quick Start Manual

QUICK START GUIDE
Mirka UR Kit
Mirka UR Kit content
Mirka finishing tool for robots:
Mirka motor drive cabinet Modbus:
Abrasive sample kit:
USB communication cable:
UR adapter flange:
10 meter robot cable:
Mounting screws, Power cable and a USB stick
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Minimum system requirements
Only for e-Series robots with a payload higher than 5 kg.
MIA6514112 We recommend to use SW 5.8.0 or higher.
XML RPC port: 40464
MIA6514122
MIA6560111
MIA6512311
Tools for installation
Hey key:
Hex key:
Flat screwdriver
4 mm
6 mm
1. Installing cables
Unpack the motor drive cabinet from its transport packaging. Open the
cabinet with the supplied key and remove the packaging material inside.
The main components of the motor drive cabinet are the motor drive PCB
and PSU. For installation purposes only the motor drive PCB will be relevant.
Locate connectors J1 (USB communication cable) and J3 (Robot cable).
Pull the Robot cable through the middle pass-through fitting and the USB
communication cable through the rightmost pass-through fitting, which
is of a smaller size.
Insert a flat screwdriver in the rectangular hole
and push down to open up the connector ports.
Connect the cables in the following way:
PCB
J3
J1
NOTE:
The weight of the cable and vacuum hose may affect the force measurement of the sensor.
1.1. USB comm cable (J1)
Insert the USB communication wires in the following order
(the heat shrinked cables are not to be used)
GND (Not connected)
B (Yellow)
A
(Orange)
GND (Black)
1.2. Robot cable (J3)
Insert the robot cable wires in the following order:
NTC- (Yellow)
GND (Not connected)
Phase C (Black)
Phase B (Blue)
Phase A (Brown, 1 mm 2 )
NTC+ (Brown, 0,25 mm 2 )
P-
(Green)
C- (Grey)
C+ (Pink)
P+ (White)
WARNING!
Miswiring of the robot cable can cause permanent damage to the motor drive.
Double check that all wires are in their correct position. If unsure have an
electrician or a person skilled in the art do the installation.
PCB
PSU