5 | 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.
Table of Contents
TABLE OF CONTENTS ..................................................................................................................................................... 5
1IMPORTANT SAFETY NOTES ................................................................................................................................. 7
1.1 SIGNS.......................................................................................................................................................................... 7
1.2 MAIN WARNINGS...........................................................................................................................................................8
2DEFINITIONS ........................................................................................................................................................ 9
3TOOL CHANGER COMPONENTS AND ORDERING.................................................................................................11
4UNBOXING YOUR KIT ..........................................................................................................................................12
4.1 MANUEL KITS.............................................................................................................................................................. 12
4.2 AUTOMATIC KITS ......................................................................................................................................................... 13
5INTENDED USE ....................................................................................................................................................14
6INSTALLATION.....................................................................................................................................................15
6.1 INSTALLATION ENVIRONMENT,SPECIFICATIONS AND SAFETY ................................................................................................. 15
6.2 PRE-INSTALLATION PREPARATION....................................................................................................................................15
6.3 INSTALLING THE ROBOT PART..........................................................................................................................................15
6.4 INSTALLING THE TOOL PART............................................................................................................................................ 17
6.5 INSTALLING PASS-THROUGH MODULES .............................................................................................................................18
6.6 INSTALLING THE TOOL PART HOLDER ................................................................................................................................ 20
7MANUAL USE ......................................................................................................................................................23
7.1 LOCKING AND UNLOCKING ............................................................................................................................................. 23
8AUTOMATIC USE.................................................................................................................................................24
8.1 IMPORTANT ABOUT WAYPOINTS .....................................................................................................................................25
8.2 IMPORTANT ABOUT COBOT SPEED ................................................................................................................................... 26
8.3 IMPORTANT ABOUT END-EFFECTOR SELECTION AND PARAMETERS..........................................................................................26
8.3.1 The end-effector’s automatic tool change capability....................................................................................... 26
8.3.2 The end-effector’s energy requirements .......................................................................................................... 27
8.3.3 The end-effectors weight and center of gravity ............................................................................................... 27
8.4 GOOD PRACTICE FOR SETTING UP TOOL CHANGES ...............................................................................................................28
8.5 PROGRAMMING TOOL CHANGE ON UNIVERSAL ROBOTS COBOTS........................................................................................... 28
8.5.1 Preparation....................................................................................................................................................... 30
8.5.2 How the URcap software works ....................................................................................................................... 30
8.5.3 Basic setup of tool change movement.............................................................................................................. 32
8.5.4 Basic setup of end-effector parameters ........................................................................................................... 35
8.5.5 Powerful TEST feature and good programming practice ................................................................................. 37
8.5.6 Advanced: Setup of tool change movement..................................................................................................... 40
8.5.7 Advanced: Setup of end-effector settings......................................................................................................... 42
8.5.8 Advanced: Setup of odd orientation of the robot part ..................................................................................... 44
8.5.9 Advanced: Sharing end-effectors between more Robot Programs and cobots................................................ 45
8.5.10 Advanced: Remote activated automatic tool change ................................................................................... 46
8.6 PROGRAMMING TOOL CHANGE ON OTHER COBOTS............................................................................................................. 47
9SAFETY ................................................................................................................................................................48
9.1 LIMITATION OF LIABILITY: .............................................................................................................................................. 48
9.2 RESPONSIBILITY OF THE SYSTEM INTEGRATOR.................................................................................................................... 48
9.3 RESPONSIBILITY OF THE USER..........................................................................................................................................48
9.4 MAIN HAZARDS........................................................................................................................................................... 49
9.5 THE TOOL SPACE.......................................................................................................................................................... 50
9.6 COBOT REQUIREMENTS................................................................................................................................................. 51
