Hello all,
I have a r-30ib controller with handling tool connected to an ethernet ip valve manifold of 2 position 4 way valves. One valve is connected to the lock unlock port on the quick change EOAT coupler. What methods if any do you guys use to interlock the unlock so A 300 lb EOAT isn't accidentally dropped to the floor?
Any input is much appreciated!
Interlock EOAT quick change lock and unlock
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robot take over -
November 10, 2015 at 3:07 PM -
Thread is marked as Resolved.
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First, I use a valve that it's either detented or normal locks the tool.
2nd, I set up a BG logic program that requires two separate outputs to be turned on before allowing the tool to unlock. If the unlock command is given without toggling the interlock output first, it will automatically lock the tool.
3rd, you can set a ref position at the tool change station. A ref pos can be set up to turn on a DO. You can then require that DO to be on to allow the tool unlock.Sent from my VS985 4G using Tapatalk
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I've seen a couple of ways that haven't been mentioned by HawkME.
One way is to use the robot's PMC to only allow the tool to unlock if all tooling nest tool presents are on. If they are not all on, it means the robot is not at the tool drop/pick position and the PMC will immediately turn off the unlock output if turned on. Also easy to implement via BG logic.
Another way is to mechanically interlock it. This is done by piping the unlock air through the master side of the tool changer, then through the slave side to a port on the tool stand, then looping it back to another port on the slave side, then through the master side, and finally to the unlock port. This way if you fire the unlock command away from the tool nest you just blast some air into space, and the tool stays locked. Problem with this method is that you have to give up two air ports to implement it.
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Thank you for the response guys, I like the idea of using the reference position DO HawkME.
Nation, the mechanical interlock sounds like a really good method, could you elaborate on the tool stand port? I'm not familiar with a tool changer where the tool plate has pneumatic coupling with the tool stand. I use ATI tool changers. -
I actually saw it at a demo at ATI's Tech Fair at ATI's facility in Orion, MI. Haven't seen it in the field yet, but I also thought it was a good idea. Unfortunately I wasn't able to get the greatest view of it, so I can't describe it very well. I appeared to be the same type of coupling ATI uses to seal the ports on the master side when the tool is unclamped.
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First, I use a valve that it's either detented or normal locks the tool.
2nd, I set up a BG logic program that requires two separate outputs to be turned on before allowing the tool to unlock. If the unlock command is given without toggling the interlock output first, it will automatically lock the tool.
3rd, you can set a ref position at the tool change station. A ref pos can be set up to turn on a DO. You can then require that DO to be on to allow the tool unlock.Sent from my VS985 4G using Tapatalk
This is how I've done it in the past, and the only thing that allows the tool to fall to the floor is some dumb@55 hitting the manual valve spool.
We also added dual limit switches to the tool stands so they must both be made before tool is allowed to unlock.