Hand 2F I/O Coupling

Bobbypointe · September 2020

Hi,
I will work with I/O Coupling On Omron TM Robots.
I can't find the precise I/O explanation about the I/O Coupling in the documentation.

Are they PNP, NPN?
What are the Min/Max Voltage value for detection level?

What is the link in between Input and action of the gripper?
What is the link in between output and status of the gripper?

Thanks

Bobbypointe · September 2020

Hi,
Thanks for the answers.
I already found the description of the preset in the documentation.
but link to input seems not to be present.

I guess that following combinaison between preset and Inputs is like this

	Preset 0	Preset 1	Preset 2	Preset 3
input 0	0	1	0	1
Input 1	0	0	1	1

Is it the case?

About Output, you wrote
Output are use to provide the object detection feedback and general error status of the gripper.

Is it a combinaison or a signal affected to a meaning?
in this case does Output 0 means detection feedback and Output 1 general error?
If it is a combinaison which one is it?

Do you have any the timing diagram?
When we change the preset value, Is detection feedback set back to 0 and back to 1 when preset is reached?

Thanks

bcastets · September 2020

The input combination you listed is correct.

	Preset 0	Preset 1	Preset 2	Preset 3
input 0	0	1	0	1
Input 1	0	0	1	1

The output correspond to gOBJ (object status) in gripper register. gOBJ contents depends on the gripper connected on the IO coupling (hand-e, 2F, ePick or airPICK). Check gripper manual to have details about its gOBJ contents.

Here below is the example of the 2F:

Image: https://us.v-cdn.net/6027406/uploads/editor/ah/iqb4ti9ub5vt.png

Image: https://us.v-cdn.net/6027406/uploads/editor/91/e09vbwww2qjy.png

Do you have any the timing diagram?
>No we don't have timing diagram in our documentation.

When we change the pre-set value, Is detection feedback set back to 0 and back to 1 when pre-set is reached?
> When a pre-set is triggered. gOBJ will be first 00. Then will be 01 or 02 if the gripper hit on object or 03 if the gripper reach the requested position without colliding on an object.

If you work with TM you don't need to go in such details. You just need to install the related TM component available on our support page to use the IO coupling.

If you are planning to integrate the TM IO coupling on another robot please note that even if it maybe possible to integrate, we only support it when it is mounted on a TM robot. You will have to take the responsibility of integration and support.

bcastets · October 2020

Thank you for your feedback.
I asked our documentation team to consider adding this information in our manual.
We did not add it at first because IO coupling are design to be use on a specific robot and we do not support integration on other robot. However sometime people know well the technology and are ready to take the risk to integrate it. It make sense to share this information for them.

bcastets · September 2020

Are they PNP, NPN? What are the Min/Max Voltage value for detection level?

The type of IO and voltage specification match those from the robot. You can find information about robot wrist connector IO type in TM manual.

Digital input of IO coupling are NPN (ie Robot output is NPN)
Digital output of IO coupling are NPN (ie Robot input is NPN)

What is the link in between Input and action of the gripper?
You can find the details of IO coupling communication in the manual.

activate the gripper using an activation sequence

Image: https://us.v-cdn.net/6027406/uploads/editor/ra/hz81aecei5ig.png

You can find detail in gripper manual:
https://assets.robotiq.com/website-assets/support_documents/document/2F-85_2F-140_TM_InstructionManual_20200211.pdf

Trigger a pre-set action using a combination of bits. With 2 robot IO output 4 combinaison of bits are possible, therefore there are 4 possible pre-set. The 4 pre-set can be configurated via a PC using Robotiq Client Interface (RUI). RUI can be downloaded from our support page.

Image: https://us.v-cdn.net/6027406/uploads/editor/3b/2tkk24b0w9b6.png

Image: https://us.v-cdn.net/6027406/uploads/editor/av/aewtc75mfvw4.png

Look at Robotiq user interface manual for details about the pre-set configuration:
https://assets.robotiq.com/website-assets/support_documents/document/User_Interface_PDF_20191031.pdf

What is the link in between output and status of the gripper?

Output are use to provide the object detection feedback and general error status of the gripper.

Bobbypointe · October 2020

hi,
Thanks a lot for your explaination.
I did not found all these info in the documentation.
Could you please ask to improve it ?

bye

Bobbypointe · October 2020

Hi,
I'm strugling with the IOs.
Here is my problem:
1. Depending on when I have issue on my program, the robot could be shut down with a piece in the gripper.
2. When I start the robot again, A flag is telling me that I have this piece, but my gripper is not initialized.
3. As the piece is a part of the handler, it can't be left off anywhere. I have to depose it at a defined place.
4.If I start the init, the gripper open and close itself, but it close again on the piece (so the closed position is not the right one).

It means, I need to perform an init, open the gripper, move the robot and perform a new init.
Unfortunately, it seems not to be possible with an IO gripper.
If I restart the init sequence, the gripper interpretes it as a Preset sequence.

Is there a special hidden way to force an new init on an IO gripper when it is already done?
(without shutting it down

)

Thanks

bcastets · October 2020

You should be able to cut the 24V at the wrist of the robot for few seconds using the following script function:
set_tool_voltage(0)
sleep(2)
set_tool_voltage(24)

Bobbypointe · October 2020

We are on a TM robot not UR.
Is it a TM function?

bcastets · October 2020

Sorry for the confusion. I will check TM documentation to see how how you could cut 24V at the wrist. It should be possible.

bcastets · October 2020

I cannot find information in the manual.
I don t have the robot in hand to check it but you may have a script function to control the voltage in "Expression Editor" node.
There are pull down list in this node with several useful functions.

Image: https://us.v-cdn.net/6027406/uploads/editor/wh/2vjx0i1ro8ao.png

bcastets · October 2020

You should be able to execute the the activation node several time. It should work.

The activation is done via the following node:

I open a support ticket on this so that we can make a better follow up for you.

Bobbypointe · October 2020

Hi,
un fortunately, it's not working.
When we start the gripper, both output are set to Low state.
As soon as the init is done, they are set to High.
So when you want to start again, the preset values are used instead as soon as you change the Input values.

I did a test in manual mode, so I had more than 10ms in between 2 inputs modifications... I did not use your brick, but a general sequence 0..0 / 10ms / 1..0 / 10ms / 0..1 / 10ms / 0..0 /10ms and Ouput checking.

Maybe with the 10ms change it will works ?
I'll keep you informed

Discussion

Hand 2F I/O Coupling

Best Answers

Comments