Nordbo Robotics NAC-S20-150 User Manual

Hide thumbs

Table Of Contents

Quick Links

Download this manual

Manual Version 2.4

For Software Version 2.0.0

NAC-S20-150

User Manual

Table of Contents

Need help?

Do you have a question about the NAC-S20-150 and is the answer not in the manual?

Questions and answers

Summary of Contents for Nordbo Robotics NAC-S20-150

Page 1 Manual Version 2.4 For Software Version 2.0.0 NAC-S20-150 User Manual...
Page 2 NAC-S20-150 - User Manual Version 2.4 Copyright Copyright © 2024 Nordbo Robotics. All Rights Reserved. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, for any purpose without the written permission of Nordbo Robotics.
Page 3: Table Of Contents
NAC-S20-150 - User Manual Version 2.4 Contents Contents............................2 Get to know NAC.......................... 4 Product Information........................6 NAC Contents......................... 6 Technical Speciﬁcations......................7 Mechanical Dimensions......................8 NAC-S20-150 Overview......................9 NAC Tool Unit..........................9 NAC Controller..........................10 Using the URCap........................11 Installation - Setting up the URCap.................... 13 Program - Using the URCap......................
Page 4 NAC-S20-150 - User Manual Version 2.4 Active Force Control......................31 Initiate Calibration........................ 32 Monitor NAC-S20-150 Motion and Error..................32 Control via Ethernet TCP/IP Interface..................33 Troubleshooting......................... 37 Unable to Connect to the Controller..................37 Reset Controller to Factory Defaults..................37 Support Requests......................... 37...
Page 5: Get To Know Nac
NAC-S20-150 - User Manual Version 2.4 Get to know NAC The Nordbo Active Compensation unit (NAC) is a solution for applications where a constant, speciﬁable force between tool and workpiece is required. The NAC consists of two parts: ● NAC Tool Unit ●...
Page 6 NAC-S20-150 - User Manual Version 2.4 Illustrated use of NAC...
Page 7: Product Information
NAC-S20-150 - User Manual Version 2.4 Product Information NAC Contents Component Referred to as Description NAC-S20-150 Tool unit with a stroke of 20 mm and a maximum payload capacity of 15 kg. NAC Cable Communication cable between NAC-S20-150 and the...
Page 8: Technical Specifications
NAC-S20-150 - User Manual Version 2.4 Technical Speciﬁcations General Speciﬁcations Maximum force (push/pull) 150 N / 110 N Maximum allowed external moment 16 Nm Stroke length 20 mm Interfaces NAC-S20-150 NAC-CTRL Control Interface Analog IO Ethernet TCP/IP Digital IO Analog IO Parameterization Interface ...
Page 9: Mechanical Dimensions
NAC-S20-150 - User Manual Version 2.4 Degree of protection IP67 with full pin and ﬁtting allocation Mechanical Dimensions Unit NAC-S20-150 NAC-CTRL Weight 2.8 Kg 1.2 Kg Dimensions Height 121-141 mm 56.26 mm Width 110 mm 106.13 mm Depth 110 mm 226 mm Mounting Tool Side ...
Page 10: Nac-S20-150 Overview
NAC-S20-150 - User Manual Version 2.4 NAC-S20-150 Overview NAC Tool Unit Description Functionality 1 Mounting hole pattern, Used when mounting the tool unit on a stable surface or on a ﬁxation site robot ﬂange. 2 Air, in Connect the tube to supply air to the tool unit.
Page 11: Nac Controller
NAC-S20-150 - User Manual Version 2.4 NAC Controller NAC-CTRL Interface...
Page 12: Using The Urcap
NAC-S20-150 - User Manual Version 2.4 Using the URCap The NAC Tool Unit can be used with the URCap (compatible with Polyscope 5). This gives access to these features: ● Set target force ● Angle compensation (handled in URCap) When using the URCap, the NAC Controller can be connected with an ethernet cable to the UR robot or the NAC Tool Unit can be wired directly to the UR robot.
Page 13 NAC-S20-150 - User Manual Version 2.4...
Page 14: Installation - Setting Up The Urcap
NAC-S20-150 - User Manual Version 2.4 Installation - Setting up the URCap The URCap needs to be setup in terms of: ● Choose mode: Disabled, Ethernet or Analog ● (Optional) Set payload (manually set the payload in kilogram) ● Set IP address of the Controller (only relevant in Ethernet mode) Program - Using the URCap The URCap is used by inserting the NAC node.
Page 15: Using The Web Interface
NAC-S20-150 - User Manual Version 2.4 Using the Web Interface The web interface is accessible by connecting the NAC-CTRL to a PC via Ethernet. Input the NAC-CTRL's IP address in a web browser (e.g. Internet Explorer or Google Chrome) to access the settings.
Page 16 NAC-S20-150 - User Manual Version 2.4 Step 3 Click ”Change adapter options”. Step 4 Right-click on ”Ethernet 3” and select “Properties.” Note: Ethernet number may vary from system to system Step 5 Select Internet Protocol Version 4 (TCP/IPv4) and click “Properties”.
Page 17 NAC-S20-150 - User Manual Version 2.4 Step 6 Set the IP address to 192.168.1.12 and the Subnet mask to 255.255.255.0...
Page 18 NAC-S20-150 - User Manual Version 2.4 Step 7 Access the web interface using a browser by typing the IP address 192.168.1.102. Make sure there’s no https:// before the IP address.
Page 19: Configuring The Nac Using Web Interface
NAC-S20-150 - User Manual Version 2.4 Conﬁguring the NAC Using Web Interface Overview of the Web Interface The NAC web interface contains the menus listed in the following table. Functions Conﬁguration ● Control Choose between control methods. Ethernet TCP/IP, I/O(digital) •...
Page 20: Configure Digital Io Interface
NAC-S20-150 - User Manual Version 2.4 Conﬁgure Digital IO interface Step 1 Click the checkbox “Use I/O Interface” Step 2 Navigate to the bottom of the conﬁguration page and click “Save”.
Page 21: Configure Preset Force Values
NAC-S20-150 - User Manual Version 2.4 Conﬁgure Preset Force Values The preset force values enables the user to control the actuated force the NAC is applying when using the digital IO interface. This is done by indexing to one of the 16 registers using the 4-force register (FREG0-4).
Page 22: Configure "Is Moving
NAC-S20-150 - User Manual Version 2.4 Conﬁgure “Is moving” Is moving is a state ﬂag that is high when the tool actuator is moving and low when standing still. You can conﬁgure a timeout timer and distance threshold to ﬁlter the signal.
Page 23: Configure Dhcp Client
Using the update page, it is possible to update the ﬁrmware on the NAC-CTRL. Step 1 Contact your Nordbo Robotics contact for any updates. Step 2 Download the update ﬁle and store it on your PC. The ﬁle should have the ﬁle extension “.deb”.
Page 24 NAC-S20-150 - User Manual Version 2.4 Step 5 Wait for the message “Firmware updated successfully”. Step 6 Power cycle the NAC Controller.
Page 25: Installing The Nac-S20-150
NAC-S20-150 - User Manual Version 2.4 Installing the NAC-S20-150 The following section describes how to install the NAC-S20-150 for a standard operation. The section will elaborate how pneumatic- and electrical installation is performed and the digital IO control interface for PLC control.
Page 26: Connection Scheme - Using Nac Tool Unit Without Nac-Ctrl
NAC-S20-150 - User Manual Version 2.4 Connection Scheme – Using NAC Tool Unit Without NAC-CTRL The following schematic illustrates how to connect the NAC on a robot from Universal Robots. Unit Description 1 NAC-S20-150 Nordbo Active Compensation unit. 2 Air compressor ...
Page 27: Connection Scheme - Using Nac Tool Unit With Nac-Ctrl
NAC-S20-150 - User Manual Version 2.4 Connection Scheme - Using NAC Tool Unit with NAC-CTRL The following schematic illustrates how to connect the NAC with the Controller. Unit Description 1 NAC-S20-150 Nordbo Active Compensation unit. 2 Air compressor Supplies air to the NAC for it to function.
Page 28: Pneumatic Installation
ﬁtting at the air intake on the NAC-S20-150. Step 2 To keep a IP67 rating the exhaust on the NAC-S20-150 must be attached to a 4 mm hose. The loose end of the hose must be placed in an environment protected against dust and liquids.
Page 29 NAC-S20-150 - User Manual Version 2.4 Insert the terminal plug with the wires in the IO of the PLC, robot controller or other desired electrical switch. Connectors Pin # Function QO.0 DO_IsMoving OUT Is moving QO.1 DO_InError OUT System error ﬂag QO.2-4...
Page 30: Nac Controller Functions
Active Force Control When active force control is activated the NAC-S20-150 is regulated to apply the target force proﬁle with a negative or positive force values. It is also possible to ramp linear up or down to a target force value from a previous target.
Page 31: Retract
● Control target forces and ramp time by selecting one of 16 different preset forces. ● Initiating a load calibration. ● Monitor if the NAC-S20-150 is in motion ● Monitor if there are any errors. Logic Status of Input and Outputs When using NPN there is a difference between electrical high and low and the logical status 1 and 0.
Page 32: Active Force Control
NAC-S20-150 - User Manual Version 2.4 Active Force Control Pins IO.3-6 are used to set the target force. These pins form a 4-bit word where pin IO.3 is the least signiﬁcant bit and pin IO.6 is the most signiﬁcant bit. The value represented on these pins determines the force register index to be used e.g., 0101 will select force register index 5.
Page 33: Initiate Calibration
2 seconds. Monitor NAC-S20-150 Motion and Error Pin QO.0 can be used to monitor if the system NAC-S20-150 is moving. It will be logic low when the NAC-S20-150 is standing still and logic high when NAC-S20-150 is moving. Pin QO.1 can be used to monitor if the system is in an error state.
Page 34: Control Via Ethernet Tcp/Ip Interface
NAC-S20-150 - User Manual Version 2.4 Control via Ethernet TCP/IP Interface Using the Ethernet TCP/IP interface it is possible to: ● Set target force ● Start/stop the NAC ● Set target force ramp time ● Get position ● Set/get load weight ●...
Page 35 NAC-S20-150 - User Manual Version 2.4 Byte Function Data type Description 0x00 Size UINT8 The size of the message in bytes. Size = 2 + Data length 0x01 Type UINT8 Message type identiﬁer. See Table 15: Message Types for all message types supported 0x03 ...
Page 36 NAC-S20-150 - User Manual Version 2.4 # Name Data Data value Description type 0x01 Active UINT8 START: 0x01, Indicates whether force force STOP: 0x00 control should control be active. 0x02 Set target force INT32 Force [mN] Set target actuated force.
Page 37 NAC-S20-150 - User Manual Version 2.4 0x16 UINT32 Get the current Get position position. Returns position [um] 0x1B Get load weight UINT32 Get the current load weight. Returns load weight 0x28 Calibrate - - Initiates calibration of load weight. 0x29 ...
Page 38: Troubleshooting
NAC-S20-150 - User Manual Version 2.4 Troubleshooting The following section provides an overview of common issues and their solutions. The content of this section will be expanded based on customer feedback. Unable to Connect to the Controller Step 1 Check your network adapter settings on your windows PC if they are set to a static IP address.
Page 39: Technical Appendix
NAC-S20-150 - User Manual Version 2.4 Technical Appendix Power supply Connection Plug Terminal block Load voltage (pin 2) 24VDC ±10% Nominal voltage 0.35 A Nominal current 2.0 A Peak current Connection Plug Terminal block Maximum cable length 30 m IOVCC logic supply ...
Page 40 NAC-S20-150 - User Manual Version 2.4 Subnetwork mask 255.255.255.0 Standard ports 80 Web server 2002 Control interface Maximum cable length 30 m Tool unit interface Connection plug M8 10-pin female Maximum cable length 10 m Connectors and speciﬁcations...
Page 41 NAC-S20-150 - User Manual Version 2.4...
Page 42 NAC-S20-150 - User Manual Version 2.4...
Page 43 NAC-S20-150 - User Manual Version 2.4...

Nordbo Robotics NAC-S20-150 User Manual

Quick Links

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Nordbo Robotics NAC-S20-150

Summary of Contents for Nordbo Robotics NAC-S20-150