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How do I program a coordinated movement or motion of both YuMi® arms?
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Coordinated movement of the two YuMi® arms is a unique feature of dual arm YuMi®. It can be programmed using the same method as programming Multimove systems of other ABB robots. The relevant RAPID instruction is SyncMoveOn and you can find more details in the Technical reference manual of RAPID Instructions.
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Are there solutions for predictive maintenance?
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Currently there are no released solutions for predictive maintenance for YuMi®, but a solution is under development.
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Will there be automatic focus function with YuMi®’s hand camera in its SmartGripper?
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Unfortunately, due to the limited space in the YuMi® hand, the cameras with auto focus available in the market cannot fit inside, customers are encouraged to adjust the focus manually.
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Will there be automatic or alternative lighting modules with YuMi®’s hand camera in its SmartGripper?
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No, however some customers have mounted their own lightening on the gripper to achieve their desired lightening effect
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Where can I find the spare parts list for the grippers?
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In the manual named “Product manual – Grippers for IRB 14000” in the section “spare parts” is possible to find a complete list for the spare parts of the Smart grippers with all the necessary ABB product codes.
The manual can be found under ABB Library in my ABB portal https://myportal.abb.com/
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How do I connect YuMi® to my emergency circuit?
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The YuMi® standalone is not connected to any external safety devices. The safety connector on the foot interface is plugged with a safety bridge connector, that closes both emergency stop channels of the FlexPendant. The safety stop input on each drive monitors this channel, and triggers a safety stop if the circuit is open or not powered. Below you can see the schematic representation.
To connect to external safety devices, the safety bridge connector must be removed. The system integrator shall then use a safety PLC or safety relay to feed and monitor the dual channel emergency stop of the IRB 14000 FlexPendant. The safety PLC shall process the input from the IRB 14000 emergency stop, as well as inputs from other safety devices in the cell, and set the necessary outputs to stop machinery in the cell. Dual channel safety performance can be maintained where such is required. IRB 14000 can be stopped from the safety PLC by routing back a single channel stop signal to the safety connector XS9.
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How do I install and configure the Smartgripper?
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In Robotstudio it is necessary to go to the “Add-Ins” section, and search for the RW Add-In SmartGripper. On the right side of the page you can o select the version of this SW (3.56 is the latest) and download it.
After this step it is necessary to close and reopen Robostudio. Now you have the Add-In available as an option for the robots. You can just add it to the robot system by performing a reboot and choosing SmartGripper in the products window.
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How do I update revolution counters?
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The revolution counters can be updated by following this procedure:
- Manually move the manipulator to the calibration position through jogging or releasing the braking buttons.
- Select the calibration with hall sensors (CalHall) routine.
- Select the function update of revolution counters.
- Store the revolution counter setting.
In the two pictures below, you can see the correct calibration position and the correct position of the marks present on the joints that need to be aligned on each axis.
After moving the robot to the correct calibration position, you should start the calibration by following the procedure:
- Open the program editor on the FlexPendant
- Select the task that corresponds to the robot arm to be calibrated. Tap Open
- If necessary, create a new program. This needs to be done if no existing program is available.
- Select Debug and tap PP to Main
- Select Debug and tap Call Routine...
- Select CalHall.
- press the Start button.
- In the screen that appears select the option number 2 Update revolution counters
Tap to select which joint(s) you want to fine calibrate. Joints 1, 2, 3 and 4 are selectable in the first window. Tap Next to open the second window where joints 5, 6 and 7 are selectable.
Tap OK to start the sampling procedure of the hall sensor. One at a time, each selected joint now rotates back and forth several times to calculate and find the exact position where the hall sensor is aligned with the magnet. Calibration order: axis 1-2-3-4-5-6-7.
When the sampling of hall sensors is finished, tap OK to confirm.
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How can I know if the robot is not calibrated?
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The simplest way to notice that the robot is not correctly calibrated is that it starts to move in such a way that it misses targets and trajectories that it could do before.
Another way is to install and use the SW tool called CalControl that checks the calibration status of the robot.
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How can I prevent the robot to get uncalibrated?
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There are many factors that causes a loss of robot calibration; the most important is the number of collision that the robot arm encounters during its cycle. To check and avoid further damage we suggest using the Cal Control tool.
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How can I use the connectors on the robot flange to connect a custom tool?
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The XS12 electrical interface that is visible in the figure below allows the customer to use 4 pins of YuMi®’s right flange and 4 for the left one, to bring signals to the customized tools that are mounted. The available pins are showed in the following picture.
And they are the pins A,B,C,D directly connecting to XS12 and the pins G and H as a 24V power supply.
To enable this connection is necessary to dismount the back of the YuMi®, in order to access to the A33 Ethernet switch that is positioned at the center of YuMi®’s back.
Into X2 and X3 ports of this device the user will find two RJ45 cables, one per each arm. To enable to XS12 interface will be necessary to detach these two cables from the switch and attach them to the two cables called respectively CP/CS_L and CP/CS_R.
In this way the XS12 will be directly connect to the arms flange.
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What’s the load diagram with and without the gripper?
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In the two pictures below, you can see the load diagrams without and with the gripper.
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