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Barnes Gimatic KIT-TM-J User Manual

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KIT-TM-J
USER MANUAL
08/2021

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Summary of Contents for Barnes Gimatic KIT-TM-J

  • Page 1 KIT-TM-J USER MANUAL 08/2021...

  • Page 2: Table Of Contents

    Summary INTRODUCTION..........................1 IMPORTING THE COMPONENTS....................2 GIMATIC KITJ SET ......................... 3 GIMATIC KITJ GRIP ........................7 GIMATIC KITJ RELEASE ......................... 9 PROGRAMMING WITHOUT TMFLOW CONTROL ................ 11...

  • Page 3: Introduction

    1. INTRODUCTION The KIT-TM-J is a plug & play gripping solution for Techman Robot cobots (TM5, TM12 and TM14 series) and it is completely compatible with Gimatic KIT-TM-EQC20 kit. It can be used in combination with any collaborative robot that provides a limited power supply capability at the wrist. The KIT-TM-J is based on the MPRJ2553NP gripper.

  • Page 4: Importing The Components

    2. IMPORTING THE COMPONENTS The component can be downloaded from: shop.gimatic.com/en/tm Copy the folder “TM_Export” to an USB pen and set the name of the pen drive to match the following name: “TMROBOT”. Insert it in the appropriate port on the robot controller. In the TMflow menu, navigate to System, Import/Export to import the components on TM controller and to make them available in the TMflow.

  • Page 5: Gimatic Kitj Set

    3. GIMATIC KITJ SET When starting project, please import component denominated “Gripper_Gimatic_KITJ_V002_Set” necessary to indicate where the KIT is phisically connected and set the main informations for each work item used in the application (a maximum of 8 work items can be configured).
  • Page 6 For every work item it is possible to setting the name and the gripping direction. The name is a string variable usefull to later identify the work item which one want to use, gripping direction is an integer variable equals to 1 if one wants internal gripping or equals to -1 if one want external gripping.
  • Page 7 Modify the values corrisponding to the MPRJ and the work items used in the application and leave the remaining TCPs unchanged (remember that "WI1" means that the system includes the KIT-J plus the specific work item 1 and so on for the remaining work items). Once this node has been imported, 9 new TCP entries are automatically added in the top-right angle of the screen, corrisponding at 8 work items plus the MPRJ TCP.
  • Page 8 The “GIMATIC KITJ SET” component does not include any command but only set-up operations and so it can generate only one result. Please pay attention that the setting (open from Start node pencil mark) of “Reset AO DO while Project Initializing” is checked as default. In this case, the gripper will close once the project run. If one want maintain unaltered the I/O this setting must be unchecked.

  • Page 9: Gimatic Kitj Grip

    4. GIMATIC KITJ GRIP Please insert the component denominated “Gripper_Gimatic_KITJ_V002_Grip” into the project to perform a grip command. It is possible to setup the node by entering the name of the work item to grip. Please pay attention to insert exactly the same characters insert previously in the Set node. When the program executes this node a grip operation of the selected piece will be commanded.
  • Page 10 The output results of this component could be: OK: if all parameters have been correctly set and the program correctly controls the selected digital output FAIL: in any other case, for example if one have not correctly selected the WI to grip. It’s possible to import as many Grip nodes as needed according to the specific robotic application.

  • Page 11: Gimatic Kitj Release

    5. GIMATIC KITJ RELEASE This node (“Gripper_Gimatic_KITJ_V001_Release”) must be imported when one wants release a work item. This node has the same charatteristics of the previous one. For setup this node just need to insert the name of the desired work item to be released. When the program passes from this node a release operation of the selected piece will be commanded.
  • Page 12 The possible outputs of this component follow the logic of the previous one. It’s possible to import as many Release nodes as needed according to the specific robotic application. Please select “Inherit old component” when importing any additional Release node to ensure that all the nodes share the same setup previously setted.

  • Page 13: Programming Without Tmflow Control

    6. PROGRAMMING WITHOUT TMFLOW CONTROL TMflow provides a simpler process programming method for the gripper-type software packages. On the robot setting page, click the Gripper Button to set the job triggered by the Gripper Button at the End Module. The concept is when pressing the Gripper Button, a set of Component is added in the flow and executed once, and two Components are used in sequence (Grip and Release nodes).

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