I-PEX ES Gripper Instruction Manual

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ES-Gripper

Instruction Manual

ES-Gripper Instruction Manual Rev.3.0

Document No. G-IM002

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Page 2: Table Of Contents
5.4.4 Points for Threshold Setting ....................16 Attachment Mounting Angle ....................17 6.1 Types of Attachment Mounting Port ..................17 6.2 How to Change Attachment Mounting Angle ................18 ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 1...
Page 3 Communication Specification ....................28 10.1 Communication System ......................28 10.2 Communication System Setup ....................28 10.3 Cable (RS422)........................29 10.4 Data Format ........................30 10.5 Command ........................... 31 ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 2...
Page 4: Introduction
Do not use the product for any purpose, under any conditions of use, or in any manner other than those described in this manual. If you intend to use the product for purposes or under conditions other than those described, please consult with I-PEX in advance. ・...
Page 5 The copyright law prohibits the unauthorized reproduction of any part of the contents of this document, including but not limited to copying or printing. ・ Product details described in this document are subject to change without notice. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 4...
Page 6 *Number of center locks = Number of times air is supplied to the ES-Gripper Contact for inquiries E-Mail：order̲es-gripper@i-pex.com In the unlikely event of damage to the packaging or initial defects, please contact the window. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 5...
Page 7: About Es-Gripper
3.1 Product Overview ES-Gripper is an end effector of robots that enable to achieve the goal of connectors assembly robotic automation. I-PEX torque sensor (ESTORQ) is inside of ES-Gripper, the load is detectible during connector assembly process. The data can be output, force traceability can be obtained, and the load threshold can be determined for each robot position.
Page 8 ±5.2° Max. <Horizontal mating connector insertion> <Vertical mating connector insertion> Direction to absorb misalignment of Direction to absorb misalignment of vertical mating by floating horizontal mating by floating ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 7...
Page 9: Name And Function Of Each Part
⑥ Attachment Mounting Surface: This is the mounting surface between attachment and body. ★The attachment must be prepared by customer. (See Section 5.2.1) ※It is also possible to consult with I-PEX about the attachment design. ⑦ Adapter Mounting Surface: This is the mounting surface between adapter (Flange) and robot.
Page 10: Packing Contents
■Because the floating range is short, the floating unit becomes a full stroke during the mounting and teaching processes. Please be careful not to damage the product. Robot Robot Arm ★Adapter ES-Gripper ★Attachment Connector Mounting Parts Diagram Overview of Connector Assembly Robotic Automation ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 9...
Page 11: Preparation For Installation
Attachment Attachment Installation Diagram 【Notes】・I-PEX recommend 1.14N・m (1.8T series) for the tightening torque of M3 bolts. ・Please work on the installation with the floating stop tape attached. Floating Stop Tape If the ES-Gripper is subjected to a force that moves it beyond the specified range of motion, this may cause damage or performance degradation.
Page 12: Robot Mounting Adapter
※ Please make adaptor according to the mounting surface dimensions described in the ES-Gripper outline drawing. ※ Use bolts with a strength classification of 10.9 or A2-70 or higher for mounting bolts. ※ I-PEX recommend 5.4N・m (1.8T series) for the tightening torque of M5 bolts. 【Notes】・When installing the ES-Gripper to the robot, Do not give a shock that exceeds the specified floating movable range.
Page 13: Air Piping
In the floating ON state when air is not supplied to the floating base, the floating unit may move due to the dead weight of the product if it is tilted. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 12...
Page 14: Points For Using Es-Gripper
In the floating ON state where air is not supplied to the floating base, the floating unit may move if it is tilted due to the weight of the product. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 13...
Page 15: Features Of Es-Gripper
・By setting the load threshold for each position of the robot, it can be used to determine whether the process is OK/NG, collisions, or mating completion. Using vertical mating connector insertion as an example, I-PEX will introduce what can be done from the insertion waveform created from the torque data output by the torque sensor.
Page 16 When floating is used (ON), it can be inserted with almost the same force as normal mating without mating axis misalignment, and the connector is not damaged. This allows the floating to align and compensate mating misalignment. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 15...
Page 17: Points For Threshold Setting
Here is an example of threshold setting for horizontal mating connectors. Use it as a reference for thresholds and OK/NG judgments during teaching. Horizontal mating connector: EVAFLEX5-SE 50P (made by I-PEX) The process of inserting the FPC sucked by the attachment into the connector...
Page 18: Attachment Mounting Angle
Load from the Side 〇 Detectable Load from the Side Load from the Bottom Load from the Bottom Attachment Mounting Port: 45° Type Attachment Mounting Port: Vertical Type ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 17...
Page 19: How To Change Attachment Mounting Angle
・After lightly tightening the bolts all over, tighten them diagonally as shown in the "Example of Tightening Order of Bolts" below. ・I-PEX recommend 1.14N・m (1.8T series) for the tightening torque of M3 bolts. Example of Tightening Order of Bolts ES-Gripper Instruction Manual Rev.3.0 Copyright ©...
Page 20: Calculation Method Of Detectable Load
The attachment shape, the load that can be by the 5Nm torque sensor is up to 98.2N. detected by the 5Nm torque sensor is up to 58.8N ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 19...
Page 21: Gripper Outline Drawing
■Use bolts with a length that does not go deeper than the specified screw hole depth. Using bolts that are too long can cause damage. <Outline Drawing of FINE X+θ TYPE> ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 20...
Page 23: Driver Install
It̀s necessary to install USB driver in advance if you connect this product to PC. Please download the latest version of USB driver software from manufacturer̀s website. http://www.ftdichip.com/Drivers/VCP.htm Please unzip the downloaded file to suitable place in advance. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 22...
Page 24: Usb Driver Install
If the picture below is not displayed, driver is already installed, please perform ̀9.3 USB driver setting’ Please right click ̀Computer’→ ̀Management’→ ̀Device manager’, Please display ̀Device manager display’. Please select ”USB Serial Port”, right click → ̀Driver’→ ̀Renewal of software’ ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 23...
Page 25 When the picture below is displayed, please select ̀install ∼’ When the picture below is displayed, please push ̀Reference button’ and select the folder unzipped at 9.1 and click ̀Next’. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 24...
Page 27: Usb Driver Setting
And please display ̀Device manager screen’ Please select ”USB Serial Port” and right click → select ̀Property’ Please select ̀Port setting tab’ and push ̀Detail button’ in middle of screen. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 26...
Page 28 Please change the value of ̀BM option’ to ̀1’ If you take off USB of external equipment and insert it again, new setting is read, and it becomes to be possible to communicate correctly. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 27...
Page 29: Communication Specification
8bit Data bit Parity 1bit Stop bit Flow control * 1 For continuous data communication method. Single data communication mode depends on the R command transmission interval. ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 28...
Page 30: Cable (Rs422)
As for external capturing equipment, such as PLC, refer to Table 5. Table 5 <Signal Names for External Capturing Equipment> PLC etc. ESTORQ side vRXD+ ⇔ TXD+ RXD- ⇔ TXD- TXD+ ⇔ RXD+ TXD- ⇔ RXD- ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 29...
Page 31: Data Format
（Date is outputted up to 1.1times of rated force） -11Nm・・・**00 0000 0000 0000 (0) 0Nm・・・**10 0000 0000 0000 (8192) 11Nm・・・**11 1111 1111 1111 (16383) ＊：The upper 2 bits are sequential data ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 30...
Page 32: Command
External equipment Reception Send Data Data Sequential data communication system External equipment Transmission end Start transmission Reception Send Data Data Data Data Data transmission + microcomputer processing time ES-Gripper Instruction Manual Rev.3.0 Copyright © I-PEX Inc. All rights reserved. p. 31...

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Summary of Contents for I-PEX ES Gripper

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