QUICK GUIDE
version 1.0
8 | P a g e
TripleA robotics makes flexible automation possible and profitable for high mix and low volume
production companies through Applicable, Adaptable and Affordable robotic tools.
WAYPOINTS
(optional)
Use a waypoint to ensure free passage of the cobot arm into
and away from the tool space.
(mandatory):
Robot part and tool part aligned on the same axis ready to
engage.
W2
(mandatory):
Robot part, tool part and tool part holder are FULLY
engaged. W2 is the reference waypoint for all other
waypoints. Fully engagement is important to ensure smooth
tool change.
WARNING! Energy and control (electricity,
vacuum, air pressure) for the end-effector must
be turned off before moving from W1 to W2
and before moving from W2 to W1.
(mandatory):
The tool changer is in pre-lock position. In this position the
payload and COG are toggled to fit the end-effector.
Default distance between W2 and W3 is 12 mm.
(mandatory):
The tool changer is in locked position. In this position other
end-effector parameters are toggles such as power supply,
TCP, Tool Voltage, Tool I/O’s etc.
(optional):
Use a waypoint to ensure free passage of the cobot arm into
and away from the tool space.
Step 2. After testing that tool changes executes correctly, re-install the pass-through modules, cables and hoses to
provide connectivity to the end-effectors. Then setup the cobot to toggle parameters like voltage,
pneumatic and vacuum OFF before tool change takes place and ON after tool change has taken place. You
should toggle these parameters in waypoint W4 or W5.
WARNING! Before tool change takes place all electrical, pneumatic and vacuum must be turned OFF and
with no residual electricity, air pressure, vacuum etc. in the system. This is important to prevent hardware
damage and end-effectors unexpected movement which pose a risk of injury or even death.
The optional URcap software provide functionality to toggle power supply, TCP, Tool Voltage, Tool I/O’s
etc. (User guide chapter: 8.5.4)
Step 3. Now test the tool change and if necessary, adjust until you are satisfied with the tool change execution.
Then implement the remaining robot program to complete your application. Deploy the checklists
provided in the user guide before deploying your application into production. (User guide chapter: 9.8)
If you encounter issues, please consult the troubleshooting in the end of the user guide.
