Magswitch CoBot SmartMagGrip E30 URCap User manual
MAGSWITCH
CoBot SmartMagGrip E30 URCap Manual
+ 1(303) 468.0662
magswitch.com
1101607 r02 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request Page 1
Table of Contents
S. No.
Topic
Page Number
1
Magswitch Gripper URCap
Installation
2
2
Powering Magswitch Gripper from
the CoBot
3
3
Configuring TCP/Payload
4
4
Magswitch Gripper URCap
Installation Interface
7
5
Magswitch Gripper Calibration
11
6
Tool Orientation
12
7
Calibration Methods
13
8
Calibration Steps in Detail
14
9
Testing Calibration –Configuration 1
–Multi-Step Learn
22
10
Testing Calibration –Configuration 2
–Multi-Step Learn
24
11
Testing Calibration –Configuration 3
–Simple Learn/Multi-Step Learn
26
12
Using Magswitch Gripper and
Magswitch Power Program Nodes
27
CoBot SmartMagGrip E30 URCap Manual
MAGSWITCH
CoBot SmartMagGrip E30 URCap Manual
+ 1(303) 468.0662
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1101607 r02 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request Page 2
Magswitch Gripper URCap Installation
Open the settings menu and go to URCaps under the system tab.
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.
Fig 2: Successful Installation of Magswitch Gripper URCap
For more detailed steps please refer the following link: Universal_Robots_ROS_Driver/install_urcap_e_series.md at
master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub
MAGSWITCH
CoBot SmartMagGrip E30 URCap Manual
+ 1(303) 468.0662
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1101607 r02 For more information, contact our Application Engineers at +1.303.486.0662 or magswitch.com/information-request Page 3
Powering Magswitch Gripper from the Cobot
To enable power and configure gripper using RS485 Modbus protocol, go to the installation tab, select Tool I/O and
select MagswitchGripper from the Controlled by drop down menu.
Fig 3: Selecting Magswitch Gripper from Tool I/O
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.
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CoBot SmartMagGrip E30 URCap Manual
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Configuring Tool Center Point (TCP)/ Payload
Select Installation then under the General tab select Payload. Set Payload to configure the tool Payload (shown below in
Figure 5). Under the drop-down menu, select the configuration that pertains to desired payload (shown below in Figure
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
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CoBot SmartMagGrip E30 URCap Manual
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Fig 6: Dropdown menu for configuring tool payload
Another way to set payload would be under the Installation tab. Select general and then TCP to configure the TCP (shown
below in Figure 7). Under the drop-down menu, select the configuration that pertains to desired tool configuration.
Fig 7: Dropdown menu for configuring TCP
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
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CoBot SmartMagGrip E30 URCap Manual
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Fig 9: Magswitch gripper accessories
Fig 10: Configuration types for tool
Configuration Type A is when the eight-pinned connector on the wrist is aligned to the cable exit port on the CoBot
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
B.
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CoBot SmartMagGrip E30 URCap Manual
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Magswitch Gripper URCap Installation Interface
To enter the gripper URCap installation, go to URCaps and select Magswitch Gripper. When the gripper is powered off
or there is an issue with the connection, all the buttons will be grayed out as shown in the image below.Note that URcap
1.1.6 is only compatible on Polyscope 5.11 and above.
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.
Fig 12: Magswitch Gripper Installation URCap when gripper is powered on
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Once the gripper is homed, the rest of the buttons are no longer grayed out and the gripper can now be controlled from
the buttons on the installation interface. The green indication LEDs indicate the various output signals sent by the
gripper to the 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
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Input
Home Magswitch
Sends command to home
Magswitch Gripper
**The gripper can only be homed
once after turning on
Button
Input
Turn Magswitch Full On
Turn on Magswitch to 100% ON
Button
Input
Turn Magswitch Full Off
Turn off Magswitch to 0% ON
Button
Input
Requested Position
Can be set to a position between
0 –100.
Input Box
Input
Turn Magswitch Partial On
Sends command to turn magnet
on to Requested Position
Button
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Type (from
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Input
Enable Auto Home
If checked the gripper will home
automatically at the beginning of
the program if it was not homed
previously
Check Box
Input
Simple Learn
Send command to perform
simple learn
Button
Input
Multi Step Learn
Send command to perform multi
step learn
Button
Input
Cancel Learn
Sends command to cancel
calibration
Button
Input
Learned Part
Sends command to change
calibration storage option
(Calibration 0-3)
Drop Down Box
Input
Sensitivity
Sends command to change
magnet sensitivity of part present
Default = 0
Accepts values from -20 to 50 as
input.
“– “is more sensitive and
decreases the acceptable range.
“+”is less sensitive and
increases the acceptable range.
Input Box
Output
Magswitch Ready
Indicates if Magswitch is Homed
Indication LED
Output
Magswitch Full On
Indicates if Magswitch is turned
on at 100% position
Indication LED
Output
Magswitch Full Off
Indicates if Magswitch is turned
off at 0% position
Indication LED
Output
Magswitch Partial On
Indicates if Magnet is partially on
–2%-99% ON
Indication LED
MAGSWITCH
CoBot SmartMagGrip E30 URCap Manual
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Type (from
Gripper
perspective)
Magswitch Gripper
Installation Controls
Description
Control Type
Output
Actual Position
Indicates actual position of the
Magnet, value can be from 0 to
100%
Output Box
Output
Learn Complete
Indicates if gripper is calibrated
Indication LED
Output
Learn Step
Indicates calibration step,
0 = not in calibration
1 = waiting for best circuit
2 = waiting for worst circuit
3 = waiting for south pole
4 = waiting for north pole
Output Box
Output
Learn Error
Indicates error while performing
calibration. Magnet was not fully
on when trying to teach
calibration step.
Indication LED
Output
Part Present
Indicates proper Part Present
within range of selected learned
part
Indication LED
Output
N Pole On
Indicates if North Pole is on
Indication LED
Output
S Pole On
Indicates if South Pole is on
Indication LED
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