OnRobot Gecko Gripper Manuel utilisateur

GECKO GRIPPER QUICK START GUIDE

1. Mount Gripper

1.1. Insert the 4 Gecko pads by aligning the tab

with the notch in the mounting plate.

1.2. Align two mounting holes between the gripper

and robot. Insert the 2 mounting screws and

tighten to 8 N-m with a 5mm hex key.

2. Connect Power, Comms, and Piezo Cables

2.1. Plug in 10-pin power (24V via I/O cable). If

using Ethernet, connect 8-pin cable as well. 4-pin is

for optional cleaning system.

2.2. If using Digital I/O communication, wire flying

leads to appropriate ports. If using Ethernet

communication, plug in cable to appropriate port.

2.3. Use 4-pin piezo driver cable to connect gripper

to high-voltage power supply.

3. Install Software

3.1. Install the Windows Desktop GUI from the

OnRobot USB flash drive.

3.2. Select “Launch Gecko Desktop GUI” checkbox

when installation completes.

3.3. Configure IP addresses. The default gripper

IP address is 192.168.0.170 Set the computer IP

address: 192.168.0.XXX where XXX is a different

integer between 0-250.

NOTE: The Training Mode Screen will appear when connection to the Gripper is

successfully established.

4. Configure Settings

4. Select desired units under the “Settings” tab on the menu bar.

5. Define Gripper State

5.1. Select Robot and Communications.

5.2. Set Preload Force.

5.3. Set Ultrasonic Range for the gripper sensor.

5.4. The gripper arrives with pads fully retracted.

To engage the pads for use, set the Pad Position to

“Engage.”

NOTE: The ultrasonic

sensor has a 500 msec

response time – account

for this delay when

robot programming

6. Perform Action

6. Select “Perform Action” to actuate

the gripper and set parameters.

This step must be completed when

using I/O comms to save the

configuration to the SD card.

7. Other Features

7.1. Retrieve Error Logs from the

“Help” menu bar by clicking on

“Error Logs.”

7.2. Click “Load Logs” for full error

log information. By selecting “Save

to File,” you can save error logs.

7.3. If using the optional

Piezoelectric Cleaning System, you

can specify the duration of a

cleaning cycle in the Clean Pads

window, accessed via the “Clean

Pads” button on the Training Mode

Screen.

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