Page 1: Table Of Contents
Testing Calibration – Configuration 2 – Multi-Step Learn Testing Calibration – Configuration 3 – Simple Learn/Multi-Step Learn Using Magswitch Gripper and Magswitch Power Program Nodes 1101607 r02 Page 1 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 2: Magswitch Gripper Urcap Installation
Fig 1: URCap Settings Menu Select the “+” icon and load Magswitch Gripper URCap from the flash drive plugged into the cobot. Once the URCap is loaded, restart the system and verify that the Magswitch URcap is present under Active URCaps, this indicates successful installation.
Page 3: Powering Magswitch Gripper From The Cobot
Fig 4: Magswitch Gripper Connected to Cobot Note: If experiencing issues involving current, a possible solution would be to select “Dual Pin Power”, see red arrow on Fig 4. 1101607 r02 Page 3 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 4: Configuring Tcp/Payload
6). Note that this also selects the tool’s center of gravity (COG). Detailed information about configurations can be found on figure 10. Fig 5: Dropdown menu for configuring tool payload 1101607 r02 Page 4 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 5 Under the Program tab, select basic and then Set Payload to configure the tool Payload (shown below in Figure 8). Under the drop-down menu, select the configuration that pertains to desired payload. Fig 8: Dropdown menu for configuring tool payload 1101607 r02 Page 5 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 6 SmartGrip E30 using the flat mount interface. Type B is when the 45° mounting plate is used and the cable exit port is closest to the eight-pinned connector. Type C also requires the 45° mounting plate but reversed tool mounting from type 1101607 r02 Page 6 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 7: Magswitch Gripper Urcap Installation Interface
Fig 11: Magswitch Gripper Installation URCap when gripper is powered off With the gripper powered on, the Home Magswitch button is active. The blue and green LEDs on the gripper will begin flashing to indicate that the gripper is not homed.
Page 8 CoBot. The gripper can only be homed once after turning on. It needs to be rehomed if power to the tool is lost. Fig 13: Magswitch Gripper Installation URCap after gripper is homed The below table shows functionality of various buttons and signals on the Magswitch Gripper Installation UI. Type (from Magswitch Gripper...
Page 9 Indicates if Magswitch is turned Indication LED off at 0% position Output Magswitch Partial On Indicates if Magnet is partially on Indication LED – 2%-99% ON 1101607 r02 Page 9 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 10 Output N Pole On Indicates if North Pole is on Indication LED Output S Pole On Indicates if South Pole is on Indication LED 1101607 r02 Page 10 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 11: Magswitch Gripper Calibration
Magswitch Gripper Calibration Calibration Fundamentals The gripper can be calibrated from the Magswitch Gripper Installation Interface, using Simple learn or Multi-Step learn. There are four calibration steps required to fully define magnetic field interaction between the tool and part and distinguish whether that interaction is sufficient or insufficient based on the user’s configurations.
Page 12: Tool Orientation
NOTE: Magnet Housing at the North Pole side of the tool has N marked on it NOTE: North Pole side of the tool is on the same side as the LED 1101607 r02 Page 12 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 13: Calibration Methods
Use Simple Learn in the following scenarios: 1. Double blank/multiple sheet detection 2. Handling parts where best and worse are nearly similar and surface conditions do not very much between parts 1101607 r02 Page 13 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 14: Calibration Steps In Detail
Wait for Learn Complete indication LED to turn on, which indicates that calibration is performed successfully. In the case that the calibration fails the Learn Error indication LED will turn on instead. 1101607 r02 Page 14 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 15 Steps for Calibrating Gripper using Multi-Step Learn Step 1: Select calibration storage option from the Learned Part drop down menu. Fig 18: Selecting Calibration storage option 1101607 r02 Page 15 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 16 NOTE: The unit is centered on the part with little to no air gap between the pole shoes and part. Fig 19: Example of Limiting Position 1 for Calibrated Part Present Signal 1101607 r02 Page 16 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 17: Multi-Step Learn
Limiting Position 1 and is waiting for Limiting Position 2. Fig 21: Mulit-Step Learn tool is calibrated for Limiting Position 1 1101607 r02 Page 17 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 18 Artificial air gaps can be used to simulate scale, paint, or debris on a part but it is preferable to use the authentic “worst-case” allowable part condition rather than nonferrous shims. Fig 22: Example of Limiting Position 2 for Calibrated Part Present Signal 1101607 r02 Page 18 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 19 Turn off magnet, place gripper on the target in the desired position for South Pole Signal and turn magnet full on. Fig 24: Example of South Pole Signal Position Step 8: 1101607 r02 Page 19 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 20 Turn off magnet, place gripper on the target in the desired position for the North Pole Signal and turn magnet full on. Fig 26: Example of North Pole Signal Position 1101607 r02 Page 20 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 21: Multi-Step Learn
Complete LED will turn on when the process if finished. This indicates that the gripper has stored the North Pole Position and Multi-Step calibration is complete. In case of an error, the Learn Error LED will turn on. Fig 27: Multi-Step Learn complete 1101607 r02 Page 21 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 22 4. Unit positioned with South Pole outside of South Pole Signal range and the magnet is electrically actuated on (100%), by setting Requested Position = 100 (Magnet 100% ON) or issuing Turn Magswitch Full On command: a. Magswitch Full On indication LED turns On b.
Page 23 Magswitch Full On indication LED turns On b. Check below table for the expected LED Indication values at this step Indication LED Value S Pole On N Pole On Part Present 1101607 r02 Page 23 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 24 4. Unit positioned with South Pole outside of Calibrated Part Present signal range and the magnet is electrically actuated on (100%), by setting Requested Position = 100 (Magnet 100% ON) or issuing Turn Magswitch Full On command: a. Magswitch Full On indication LED Turns On b.
Page 25 5. Unit positioned with North Pole outside of Calibrated Part Present signal range and the magnet is electrically actuated on (100%), by setting Requested Position = 100 (Magnet 100% ON) or issuing Turn Magswitch Full On command: a. Magswitch Full On indication LED Turns On b.
Page 26 3. Unit positioned within Calibrated Part Present signal range and the magnet is electrically actuated on (100%), by setting Requested Position = 100 (Magnet 100% ON) or issuing Turn Magswitch Full On command: a. Magswitch Full On indication LED turns On b.
Page 27: Using Magswitch Gripper And Magswitch Power Program Nodes
Magswitch Power: Selecting this URCap turns the gripper on or off in the program as shown below. It is recommended to use the Magswitch power URCap only if the gripper is used with a tool changer. After switching the gripper off and turning it back on, it is recommended to provide a delay of at least 2 seconds before issuing the Magswitch Gripper URCap command to home the tool.
Page 28 + 1(303) 468.0662 magswitch.com Magswitch Gripper: The Magswitch gripper URCap can be used to send commands to the gripper as well read the state of the gripper. The commands are summarized in the table below. Fig 30: Magswitch Gripper Program Node URCap...
Page 29 True if South Pole on, else False Example Demonstrating Turn Magswitch Full On: Commands can be sent to the gripper from the Magswitch Gripper URCap in the program. The below program example shows how to send command to turn the magnet on at 100% position.
Page 30 MAGSWITCH CoBot SmartMagGrip E30 URCap Manual + 1(303) 468.0662 magswitch.com Fig 31: Example program to turn Magswitch Full On 1101607 r02 Page 30 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 31 FULL_ON variable to verify that the magnet is turned on after sending the Turn Magswitch Full On command. Fig 32: Using Loop to check the state of FULL_ON variable...
Page 32 + 1(303) 468.0662 magswitch.com Fig 34: Loop until magnet is magnet is fully on Fig 35: Read the state of the FULL_ON variable until True 1101607 r02 Page 32 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 33 The following program example turns on the magnet at 50% position and checks if the ACTUAL_POSITION variable returns a value of 50. Fig 36: Actuate Magnet at 50% On position Fig 37: Loop until ACTUAL_POS variable equals 50 1101607 r02 Page 33 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request...
Page 34 Example Demonstrating Part Present: The below program example demonstrates reading the part present signal inside a loop. While issuing the Magswitch Gripper read command ensure that the appropriate Learned part is selected from the drop-down menu. Fig 38: Selecting Calibration profile for checking the status of PART_PRESENT variable...

This manual is also suitable for:

81401484