How to set up a gripper on a Flowline Mk3 with a Toothed Gripper
Mechanical Setup
This gripper design has two gripper switch inputs. This design was implemented to ensure the system can load a bar with an uneven or angled cut on the end. The sensors are activated by a long stroke on a spring, which has at least 10mm range of movement.
| Sensor | Pic | Function |
|---|---|---|
| Grip Min |  |
Senses that a profile is gripped in the jaws. It should be active1-2mm after the spring is depressed |
| Grip Max | |
Activates when profile hits "end stop" of gripper mechanism whn loading. This ensures a reliable datum point. It should be active when the spring is fully depressed |
Software Sequence / Process
| Step | Action | Notes |
|---|---|---|
| 1 | Move to loadingpos plus 5mm | |
| 2 | Wait for gripper max input | (completely bottom out gripper) |
| 3 | Wait for gripper to be within 0.25mm of expected position and 100ms to pass (to allow system to settle) | |
| 4 | Clutch and material load motor off | |
| 5 | Move to loadingpos | Pushes profile back to |
| 6 | Clutch on | holds profile steady |
| 7 | Wait for trim Pause | |
| 8 | Move x axis to loadingpos+200mm | Clear of tooling head |
| 9 | Run datum hole routine | |
| 10 | Move to loadingpos | |
| 11 | Grip | |
| 12 | Wait for grip on time | |
| 13 | Check that grip min switch is active | Ensure the bar is gripped |
| 14 | Grip lock on | Locks the gripper in its current position so it does not force the profile to "wheelie" |
| Step | Action | Notes |
|---|---|---|
| 1 | Move to just before start of bar defined by sloadpos file and sawLoadDiff parameter +50mm | |
| 2 | If gripper activated, the end of the bar is not where it should be | - wrong place in the bar queue
- wrong bar loaded |
| 3 | channel on, lock off to ensure profile is held when gripper nose spring approaches | |
| 4 | Move slowly to a position beyond bar end, waiting for grip min to be active | If grip min not active, restart the sequence but add 100mm to grip positions |
| 5 | When grip min is active, halt the SX axis | |
| 6 | Move additonal 25mm to overshoot holes | |
| 7 | Gripper on, wait grip on time | ps_gripOnE |
| 8 | Channel off then lock on momentarily later to leave a gap between channel and profile | ps_chanLockOffOnE |
| 9 | Pull gripper back to locate into holes | Pull back away from saw blade 30mm |
| 10 | Test grip min switch still active | If grip switch not active, confirm with operator, else regrip again |
Gripper Lock
Troubleshooting - Common problems
- Griplock round the wrong way - see above
- Gripmin / Gripmax inputs wrong way round or not set correctly
- Gripper holes not set the same as hole setup jig (make sure it is used the correct hand for your machine
- Measure / Laser motion parameters not set correctly (measurespeed=200, measureAcc=2000, laserDecel=2000)
- Latest software version installed 6.6020 or later
- Pause for gripper on is not long enough
Draft
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