Schaeffler EWELLIX LIFTKIT-YA Installation, Operation And Maintenance Manual

Yaskawa plug & play kit

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INSTALLATION, OPERATION AND

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Summary of Contents for Schaeffler EWELLIX LIFTKIT-YA

Page 1 CATEGORY INSTALLATION, OPERATION AND MAX 2 LINES MAINTENANCE MANUAL Heading_cover LIFTKIT-YA max 2 lines Subheading max 2 lines Feature 1 max 2 lines Feature 2 max 2 lines Feature 3 Feature 4...
Page 2: Table Of Contents
LIFTKIT-YA Contents 1. General information ............3 7.4.4 LIFTKIT POSITION job ..........29 1.1 Information in this manual ..........3 7.4.5 LIFTKIT POSITION outcomes ........30 1.2 Explanation of symbols and signal words.....3 7.4.6 LIFTKIT INIT job ............30 1.3 LIFTKIT designations .............4 7.4.7 LIFTKIT INIT outcomes ..........32 1.4 Related documents ............4 7.5 Variables used by the Extension .........32 1.5 Target audience .............4 8.
Page 3: General Information
LIFTKIT-YA 1. General information DANGER 1.1 Information in this manual Indicates a dangerous situation, which will lead to death or serious personal injury, if the precautionary measures are This manual provides important information on how to work ignored. with the actuator (also called device or drive) safely and efficiently.
Page 4: Liftkit Designations
LIFTKIT-YA 1.3 LIFTKIT designations 1.5 Target audience LIFTKIT contains a lifting column, a controller and additional This manual is intended for qualified technical personnel accessories enabling easy integration with YASKAWA ro- who install and use LIFTKIT in their application. This manual bots.
Page 5: Safety
LIFTKIT-YA 2. Safety 2.3 Safety mechanisms This section provides safety aspects supplementary to the safety aspects described in the relevant operating manuals of the included devices. Failure to comply with the guide- The following measures have been integrated in LIFTKIT to lines and safety instructions contained in this manual may reduce the risk of harm or damage: result in serious hazards that could cause possible serious...
Page 6: Potential Risks
LIFTKIT-YA 2.5 Potential risks The following risks during LIFTKIT operation have to be con- sidered in an application specific risk assessment: • The column does not detect an impact automatically and does not stop movement upon impact. This can lead to: - Crushing of a person or an object in the path of the col- umn, causing serious injury or death or property damage.
Page 7: Liftkit Components
LIFTKIT-YA 3. LIFTKIT components 3.1 Scope of delivery • 1 bottom mounting plate • 8 M10x40 screws for mounting plates (1) • 4 screws M6x20 for YASKAWA robot (2) The following enumerated parts are delivered and are de- picted in figure 1: •...
Page 8: System Requirements
LIFTKIT-YA 3.2 System requirements The system requirements for the controller and the software are as follows: • Robot compatibility: HC10, GP4, GP7 and GP8 (except GP8L) • YASWAKA controller: YRC 1000 micro • User interface: Smart pendant and standard pendant •...
Page 9: Mechanical Installation
LIFTKIT-YA 4. Mechanical installation 4.1 Tools required NOTE Alternatively, if mounting to a SLIDEKIT, remove the robot The following tools are required for the mechanical attachment plate from the SLIDEKIT and attach the LIFTKIT installation: bottom plate with 8x M6 screws to the SLIDEKIT attachment plate.
Page 10: Initialization Of Liftkit And Robot Installation
LIFTKIT-YA 5. Initialization of LIFTKIT and robot installation LIFTKIT must be initialized before its first operation. For this, NOTE follow the steps below: If the system connections are changed, a new initialization may be required. 1. Connect the LIFTKIT like the following figure 3. It is recommended to do the initialization without the robot 6.
Page 11: Hardware Connection Sbox
LIFTKIT-YA 6. Hardware connection SBOX 6.1 Hardware connection SBOX The SBOX is used to interface with the SCU and the robot controller. Figure 6 gives a view on the front panel of the SBOX, whereas figure 5 gives a detailled look on the electri- cal connections for the safety relays.
Page 12: Liftkit Connection Setup
LIFTKIT-YA 6.3 LIFTKIT connection setup SBOX USB port Robot controller 1 Out1-24V 2 Out2-24V Safety connection 3 Out1-0V board 4 Out2-0V 5 K1 read out 6 K1 read out 7 K2 read out 8 K2 read out Ethernet SBOX cable I/O cable 1.
Page 13: Software Instructions For Ewellix Liftkit Extension For Yaskawa Robot
LIFTKIT-YA 7. Software instructions for Ewellix LIFTKIT extension for YASKAWA robot 7.2.1 Insert USB into Smart Pen- 7.1 Introduction dant / Standard Pendant The purpose of this document is to describe the steps re- 1. Plug the USB (on which Ewellix Liftkit .yip file is stored) quired to configure the Ewellix LIFTKIT extension for the inside a Smart Pendant / Standard Pendant.
Page 14: Check If The Extension Installed Correctly
LIFTKIT-YA 7.2.3 Check if the extension On Package page, press “INSTALL” button which is placed on top. figure 10 installed correctly Figure 10 After restarting the controller, validate that extension is in- Press Install button stalled correctly. Ewellix extension consist of the following 4 parts: 1.MOTOPLUS applicaiton 2.INFORM - JOBS 3.GUI-Extension...
Page 15 LIFTKIT-YA Validate INFORM JOBS Figure 13 Navigate to Job List. figure 15 Press MOTOPLUS APPLICATION Figure 15 Navigation to Job List On the newly opened page, following Jobs should be pres- Newly created Ewellix Liftkit M+ application should be visi- ent: LIFTKIT_MOVE, LIFTKIT_POSITION, LIFTKIT_INIT, ble.
Page 16 LIFTKIT-YA Validate Extension Figure 19 Navigate to Jobs List as shown on Figure 18 Navigation to Installed Extension Job List. Select an already existing Job (should not be a LIFTKIT Job) and press EDIT. Figure 17 Press on Edit Job Installed Extension could also be found in Package Manager.
Page 17: Uninstall Package
LIFTKIT-YA 7.2.4 Uninstall package Figure 23 To uninstall the existing Ewellix LIFTKIT package navigate to System Settings → Packages as shown on figure 9. Uninstall package Ewellix LIFTKIT package should be listed in Packages menu. figure 21. Figure 21 Package list After confirming uninstallation, the package will be unin- stalled shortly.
Page 18: Delete M+ Application
LIFTKIT-YA Figure 25 7.2.5 Delete M+ application Confirm deletion of Extension Navigate to System Settings → Controller. On newly opened page press MOTOPLUS APPLICATIONS. figure 27. Figure 27 Open list of M+ applications Delete Jobs Navigate to Job list. Select a job which should be deleted (LIFTKIT_MOVE, LIFTKIT_POSITION or LIFTKIT INIT) Lock the job to disable editing and press on Delete button as shown below.
Page 19: Establish Connection Between Robot And Sbox
LIFTKIT-YA 7.3 Establish connection between Robot and SBOX 7.3.2 Specify IP Address and port on LIFTKIT Configuration page To establish a connection between Robot controller and SBOX please follow these 2 steps: Navigate to LIFTKIT Configuration page as depicted on fig- ure 18 "LIFTKIT bottom navigation bar".
Page 20: Liftkit Configuration
LIFTKIT-YA CAUTION Figure 32 SBOX IP address and SBOX port variables should not be SBOX port global variable changed manually. 1. IP Address and port are using named global variables. Names of the variables are assigned at Extension installation. If names get deleted, extension will not be able to communicate with Ewellix equipment.
Page 21 LIFTKIT-YA Figure 35 In case invalid LIFTKIT type is chosen, current status show value “CONNECTED, PILLAR NOT VALID”. The page will Choose Liftkit type look as shown below. figure 37. Figure 37 Invalid type is selected Depending of the equipment, different type will be required. After choosing valid LIFTKIT type, wait 4 seconds for data to In case Liftkit is used for the first time, customer shall per- be obtained.
Page 22: Extend/Retract Buttons
LIFTKIT-YA 7.3.4 Extend/Retract buttons Figure 40 Configuration page also consists of 2 buttons for extending/ Retract button held retracting the LIFTKIT. While user holds Extend or Retract button, LIFTKIT will move accordingly. When buttons are re- leased, LIFTKIT stops the movement. When Extend/Retract button is held, all other buttons are disabled, current status changes from “READY”...
Page 23: Refresh Button
LIFTKIT-YA Figure 42 Hold MOVE button Before initiating a movement with buttons, it is recom- mended that user first presses Refresh button. Since the LIFTKIT Configuration page just shows last snapshot of the Liftkit state, it could be outdated (LIFTKIT could be on differ- ent height or Liftkit could be in state in which movement is not possible).
Page 24: Max Stroke
LIFTKIT-YA 7.3.7 Max stroke states has additional “cause” part which provides more in- formation about the state. Max stroke represents the maximum length that LIFTKIT can extend to. Maximum stroke is shown on configuration page. Brief description of all statuses and causes is shown below. figure 45 Table 2 Figure 45...
Page 25: Jobs
LIFTKIT-YA 7.4 Jobs Figure 49 LIFTKIT_MOVE job source code Ewellix LIFTKIT plugin consists of following jobs: Table 3 JOB name Arguments Description LIFTKIT_ arg1: INTEGER → LIFTKIT moves to MOVE(arg1) Desired position in mm the position where Liftkit should specified in move to.
Page 26: Liftkit Move Job
LIFTKIT-YA 7.4.1 LIFTKIT MOVE job Figure 52 LIFTKIT MOVE job is used to move LIFTKIT pillar on the Position not inside limits popup specified position. Pressing LIFTKIT MOVE button will add LIFTKIT_MOVE job on current job with default argument specified in textbox next to the button.
Page 27: Liftkit Move Outcomes
LIFTKIT-YA 7.4.2 LIFTKIT MOVE outcomes When program is started, LIFTKIT will move to the position specified as LIFTKIT MOVE argument. When movement is The outcome of last movement is written in String and Byte finished “Position reached” is written in S076 string variable. variable.
Page 28: Liftkit Position Job
LIFTKIT-YA to the LIFTKIT MOVE (IVAR) button. When integer variable is NOTE changed, label next to it also changes to match the corre- Argument passed to LIFTKIT MOVE should not exceeed sponding integer variable. the maximum integer variable number. Add LIFTKIT MOVE job by pressing LIFTKIT MOVE (IVAR) When Job is started, LIFTKIT moves to the position stored in specified Integer variable.
Page 29 LIFTKIT-YA Figure 58 Figure 60 Added LIFTKIT POSITION job Liftkit current position obtained When program is started, LIFTKIT's current position is writ- ten in Integer variable specified as argument. In this case the LIFTKIT's current position is written in I001. Figure 59 Start LIFTKIT POSITION job...
Page 30: Liftkit Position Outcomes
LIFTKIT-YA Figure 62 7.4.5 LIFTKIT LIMITS job Start LIFTKIT LIMITS JOB LIFTKIT LIMITS job is used to set virtual limits of LIFTKIT. Virtual limits are used to define and control the boundaries of the LIFTKIT's range of motion. Virtual limits range from zero to the maximum stroke.
Page 31 LIFTKIT-YA LIFTKIT INIT job is used to initialize the data needed to start Figure 64 operating LIFTKIT. Select LIFTKIT_INIT job LIFTKIT INIT does following actions: Set SBOX IP address in S075 Set SBOX Service port in D077 Set LIFTKIT type Set lower limit to 0 Set upper limit to be equal to max stroke Primary LIFTKIT INIT job is used by Standard Pendant cus-...
Page 32: Liftkit Init Job
LIFTKIT-YA Fill all parameters with appropriate values. Figure 67 Default values are: Start LIFTKIT INIT JOB • Ip address: 192.168.1.100, • port: 50001, • LIFTKIT type differs based on the SCU (LIFTKIT-601, LIFTKIT-602). Figure 66 Fill the parameters LIFTKIT_INIT job could take a few seconds for its execution. If LIFTKIT_INIT successfully finishes execution, LIFTKIT should be ready to operate.
Page 33 LIFTKIT-YA Integer variables: 7.4.8 LIFTKIT INIT outcomes LIFTKIT INIT has a defined number of outcomes. All out- Variable number Variable name Description comes are stored in String variable and Byte variable. Upper limit takes the I076 LK: Upper limit value equal to Max stroke S076 B078...
Page 34: Variables Used By The Extension
LIFTKIT-YA 7.5 Variables used by the Extension Communication between different layers in the exten- sion is done by using global variables. Ewellix exten- sion has the predefined number of variables that are used. The list of all variables used by the plugin is shown below.
Page 35: Standard Pendant Usage
LIFTKIT-YA 8. Standard Pendant usage This chapter provides guidance on how to start using LIFTKIT On the newly opened page, change Start mode from with Standard Pendant. As specified earlier YASKAWA robot ONLINE MODE to MAINTENANCE MODE and press RESET. can be operated with 2 Pendants.
Page 36 LIFTKIT-YA Figure 71 Figure 73 Navigate to Load M+ List of M+ Figure 72 After pressing YES, restart the controller. When the control- ler is booted up again, navigate to: List of M+ apps MotoPlus API → FILE LIST to verify that M+ is installed correctly.
Page 37: Install Jobs
LIFTKIT-YA Figure 75 Figure 77 File List Select JOB list 8.1.2 Install JOBS When the JOBS checkbox is selected, new page with all In order to install JOBS, controller needs to be in ONLINE jobs is opened: LIFTKIT_MOVE, LIFTKIT_POSITION, MODE. Normally when controller is rebooted it is rebooted LIFTKIT_INIT, LIFTKIT LIMITS.
Page 38 LIFTKIT-YA Figure 79 Figure 81 Load JOBS JOB list 8.2 Initialize global variable names The JOBS should be loaded and ready for execution. To validate that JOBS are loaded correctly, navigate to: Several global variables are actively used by the plugin. JOB →...
Page 39 LIFTKIT-YA 2. Integer variable names: 4. Double variable names: Figure 83 Figure 85 Integer variable names Double variable names 3. Byte variable names: 5. String variable names: Figure 84 Figure 86 Byte variable names String variable names...
Page 40: Execute Liftkit_Init On Standard Pendant
LIFTKIT-YA On the newly opened page, press the INFORM LIST button which is placed on Standard Pendant. A new navigation bar should appear on the right side of the page. Navigate to 8.3 Execute LIFTKIT_INIT CONTROL → CALL. on Standard Pendant Figure 89 The LIFTKIT_INIT job is mainly used by Standard Pendant Insert CALL command...
Page 41 LIFTKIT-YA Figure 93 When CALL is hovered, press ENTER and select LIFTKIT_ INIT job. List of LIFTKIT INIT arguments Figure 91 Select LIFTKIT_INIT job Select the first argument and press SELECT → ARGF + SELECT. Now the bottom text field will be “CALL JOB:LIFTKIT_INIT”. Figure 94 Figure 92 Set first argument...
Page 42 LIFTKIT-YA Figure 95 Figure 97 Configure first argument Start JOB LIFTKIT_INIT is ready to be started. In order to start job exe- cute following instructions: Change mode to automatic by turning the key in top left cor- Figure 96 ner of the pendant. Turn servo on by pressing Servo on Ready button.
Page 43: Delete Extension On Standard Pendant
LIFTKIT-YA Figure 99 Navigate to on any LIFTKIT job and, press DELETE + ENTER. String variable result Figure 102 Delete JOB Figure 100 Byte variable result Repeat the steps for each LIFTKIT job. Delete M+ by changing the mode to maintenance as shown in theon figures: Figure 70, Figure 71, Figure 72.
Page 44 LIFTKIT-YA Chose ewellix_liftkit, press SELECT + SELECT + ENTER. On new modal press YES. Figure 104 Delete M+ Reboot controller.
Page 45: Safety
LIFTKIT-YA 9. Safety SBOX is equipped with safety relays which cut the power of the LIFTKIT's SCU. When the relays are dropped LIFTKIT stops its movement and movement cannot be started again. While Safety is triggered, Liftkits Current status is “INITIALIZED, NOT CONNECTED TO THE LIFTKIT”.
Page 46: Specifications
LIFTKIT-YA 10. Specifications Operating range extension Plug-and-play solution Cost savings and higher productivity • Vertical lifting of the cobot by up to • Hardware interface compatible with 1 400 mm with compact retracted HC10, GP4, GP7 and GP8 (except Cobots combined with Ewellix LIFTKIT height GP8L) robots provide a cost-effective solution to up-...
Page 47 LIFTKIT-YA Dimensional drawing TLT lifting column Robot attachment plate 4×M12 4×M10 4×M8 4×M8 4×Ø20,5 4×M8 4 ×M10 4×M6 30 mm deep 4×M10 TLT Column 30 mm deep 4×M10 30 mm deep Stroke ±4 8×M5 11 mm deep Stroke ±4 27,6 83,5 Stroke ±4 3×M5...
Page 48: Troubleshooting
LIFTKIT-YA 11. Troubleshooting Malfunction Possible cause What to do The LIFTKIT does not Control unit not operational Check if the green light on the side of the control unit is on move Ensure that the RS232 cable is securely connected to the control unit and the SBOX Ensure that the safety relays from the SBOX are connected to the terminal conversion module in the YASKAWA controller...
Page 49: Introduction
LIFTKIT-YA SBOX communication error (Outcome code 11.1 Introduction This Troubleshooting Guide is intended to provide guidance Issue: Connection to SBOX Service could not be to the LIFTKIT Extension end users in the detection and cor- rection of programming issues. It may also be useful to established Ewellix support engineers who support this project Possible causes:...
Page 50: Liftkit Position Job
LIFTKIT-YA • Invalid LIFTKIT type chosen • Restert Job • Check hardware connection with the SBOX/RPI Solution(s): • Check if SBOX/RPI is powered on • Change LIFTKIT type on Configuration page, by changing • Restart SBOX Service. (Power off/on SBOX) value in LIFTKIT types drop-down •...
Page 51 LIFTKIT-YA Possible causes: • Change LIFTKIT type by running LIFTKIT INIT job Homing not done (Outcome code 25) • SBOX Service is not running, Issue: Position cannot be obtained because initial homing is • SBOX Service is running but connection was not success- not done Possible causes: •...
Page 52: Liftkit Init Job
LIFTKIT-YA Possible causes: • Restart SBOX Service. (Power off/on SBOX) • Entered type exists, but it is not correct type for current 11.2.3 LIFTKIT INIT job Errors that occur during the execution of LIFTKIT INIT job Solution(s): are shown in two variables: •...
Page 53: Liftkit Limits Job
LIFTKIT-YA • Check if SBOX/RPI is powered on • Restart SBOX Service. (Power off/on SBOX) • Restart SBOX/RPI Invalid type (Outcome code 23) • Contact support. Issue: Type exists, but it is not a valid Type for the SCU 11.2.4 LIFTKIT LIMITS job Possible causes: Errors that occur during the execution of LIFTKIT LIMITS job are shown in two variables:...
Page 54: Resolving Alarms
LIFTKIT-YA Issue: Virtual limits and max stroke could not be stored in variables. • Connection between SBOX/RPI and SCU is lost during the Possible causes: execution of LIFTKIT LIMITS • Max stroke variable is deleted Solution(s): • Upper limit variable is deleted •...
Page 55: Jobs Page
LIFTKIT-YA Byte variable B078 - SBOX port. If one of the two does not • Restart SBOX Service. (Power off/on SBOX) exist, add it Small Delta height Unavailable to read Position/Status Figure 112 Figure 109 Small Delta height Failed to read Position Issue: Requested movement is less than 7 mm.
Page 56: Configuration
LIFTKIT-YA 11.3.3 Configuration page Statuses Issue: : Global variables not exist NOT CONNECTED, INVALID IP ADDRESS FORMAT Status code Possible causes: Figure 114 • There isn’t “LK: SBOX IP“ variable name at String S76 global variable NOT CONNECTED, INVALID IP ADDRESS FORMAT •...
Page 57 LIFTKIT-YA • Ethernet connection between robot and SBOX is broken Solution(s): • SBOX cannot be pinged • SBOX Service is not running • Check hardware connection between SBOX/RPI and SCU • SBOX Service is running but connection was not success- •...
Page 58: Jobs
LIFTKIT-YA CONNECTED, PILLAR NOT VALID Status CONNECTED, TYPE NOT SET Status code code Figure 120 Figure 119 CONNECTED, TYPE NOT SET CONNECTED, PILLAR NOT VALID Issue: Type is not set Issue: Invalid type is selected Possible causes: Possible causes: • Type is not set •...
Page 59: Appendix
LIFTKIT-YA 12. Appendix • Ambient temperature: 5 to 40 °C WARNING This is the extract of the SCU manual chapter Safety. For more • Relative humidity : 5 to 85% SCU operating manual PUB TC-08005. information please see • Atmospheric pressure: 700 hPa to 1 0 60 hPa •...
Page 60: Unintended Use
LIFTKIT-YA 12.2.3 Essential performance erator must have read the Safety chapter in this manual be- fore using the machine. Moreover, he must be instructed Supply electromechanical actuators / pillars by command. about the normal operation by the operating authority. Types of operation 12.3 Responsibility of the owner and processor The SCU control unit is exclusively intended for intermittent...
Page 61: Personnel Requirements
LIFTKIT-YA Qualified personnel: • Instruction of the users. • Based on their professional train- ing, know-how and experience as well as knowledge of • Complying with all relevant legal conditions and regula- the applicable standards and regulations are able to inde- tions.
Page 62: Specific Dangers Scu With Batteries
LIFTKIT-YA WARNING CAUTION Electrical shack hazard The SCU control unit is only suitable for interior applications Check the mains voltage corresponds to the nominal values on and must not be subjected to weathering, strong UV radiation or the product label. corrosive or explosive air.
Page 63: Safety Equipment
LIFTKIT-YA 12.6 Safety equipment Protect the SCU control unit against restart: 1. Pull the power line plug out of the power outlet. WARNING 2. In case the SCU control unit is equipped with a battery, Danger due to malfunctioning safety equipment ensure to remove the battery.
Page 64 LIFTKIT-YA Figure 68 In addition to that a LED on the connected operating ele- ment (ex. hand switch) shows the status of the functionality Example “Smart Control Parameter” (SCP-Label) and the status about the SCU and the connected actuators and gives (optional) information about the loading capacity of a used battery.
Page 65: Manufacturer's Declaration Of Emc Compliance
LIFTKIT-YA 12.9 Manufacturer‘s declaration of EMC compliance This section is only mandatory, if the devices are approved and attended for use in medical applications or environment (according IEC60601-1-2 ed. 4) This chapter shows the re- sults and potential about EMC issues. 12.9.1 Instructions for use Professional healthcare facility environment...
Page 66 Due to continuous improvements being made in our products, the product’s appearance and specifications are subject to change without notice. PUB TC-08057-EN-June 2024 Certain image(s) used under license from Shutterstock.com. Schaeffler and the Schaeffler logo are trademarks of the Schaeffler Group.