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Meca500 - Kosmek SWR0010 pneumatic tool changer


This MecaNetwork example features the Meca500 industrial arm, the MPM500 pneumatic module and the Kosmek SWR0010 pneumatic tool changer. The SWR0010 master piece can be directly attached to the Meca500 using a standard mounting bracket, that can be purchased through Kosmek. The tool changer is controlled directly by the MPM500 pneumatic module. The provided demo showcases a simple hold-and-release example.


TABLE OF CONTENTS

Components

Not all components used in this example are sold by Mecademic Robotics.
  • Meca500 Robot: Go to link
  • Meca500 firmware version 8.1.6 or above is required: Go to link
  • Mecademic MPM500 pneumatic module: Go to link
  • Kosmek SWR0010 tool changer: Go to link
  • M5 threaded barb fittings: Included with the MPM500 module OR Push-to-connect barb fittings: McMaster reference
  • M3 threaded barb fittings: Purchased separately for the tool changer
  • M3 x 0.5 screws (x7): For mounting the bracket and the tool changer's master piece to the Meca500
  • 1/16 in ID or 4 mm OD pneumatic cables: Purchased separately

Technical specifications of the tool changer

  • Compact tool changer
  • Payload: 0.5 to 1 kg
  • Repeatability: 0.005 mm
  • No backlash at connection
  • Operational life: more than 1 million cycles


Assembly

Before assembly or operation, please refer to the Meca500 User Manual and the MPM500 User Manual.

It is also recommended to visit the How to install the MPM500 pneumatic module page in order to ensure a functioning set-up  before adding the gripper. The article lists the assembly steps required after the successful installation of the MPM500 pneumatic module


Assembly steps:

  1. Mount the Meca500 bracket, designed and sold by Kosmek, to the Meca500 flange; 
  2. Mount the master piece of the tool changer to the mounting bracket with M3 screws. Make sure the screws are long enough to engage simultaneously the master piece and the bracket; 
  3. Mount the push-to-connect fittings;                                                                                                                
  4. Attach air input to port IN (Meca500); 
  5. Attach port Hold (tool changer) to port 1 (Meca500), using a pneumatic cable; 
  6. Attach port Release (tool changer) to port 2 (Meca500), using another pneumatic cable; 
  7. Optional: add the pneumatic muffler to reduce noise.

Web interface script

The tool changer's action (hold/release) can be tested with the Meca500's web interface. To learn how to use the web interface, please read the Programming Manual. Simply write and execute the GripperOpen and GripperClose commands to confirm that all connections are working. A simple hold-and-release sequence is presented below. The sequence positions the robot with the MovePose() and MoveLin() commands. The tool changer then proceeds to hold the slave piece, before placing it somewhere else and releasing it. 

MovePose(215.813,1.282,144.232,20.74,82.846,-19.853)
MoveLin(214.355,1.239,108.308,138.4,86.206,-138.008)
GripperClose
Delay(1)
MovePose(174.313,116.071,145.192,-78.995,58.707,81.526)
MoveLin(173.682,115.627,114.353,-95.307,59.052,94.893)
GripperOpen
Delay(1)
MovePose(174.516,116.213,134.623,-84.534,59.046,86.056)
MoveLin(173.682,115.627,114.353,-95.307,59.052,94.893)
GripperClose
Delay(1)
MovePose(215.813,1.282,144.232,20.74,82.846,-19.853)
MoveLin(214.355,1.239,108.308,138.4,86.206,-138.008)
GripperOpen
Delay(1)
MoveJoints(0,0,0,0,0,0)


Please note that these examples are provided as-is by either Mecademic or it's Partners. These can be used as starting point for development and testing but Mecademic or it's partners are not under obligation to provide support and are not liable for any errors or unintended behavior caused by the examples. These examples could be updated over time.

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