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How to control an I/O coupling on other robots ?

You are thinking about install the I/O Coupling on other robots?  

The I/O coupling enables the control of Robotiq adaptive and vacuum grippers using 2 inputs and 2 outputs from a robot to trigger action presets pre-programmed in the coupling.

For Universal Robots (model CB3), Techman, and Omron/TM cobots, we provide software components to manage the triggering of these I/Os."

However, users may want to program their own control of those presets. For example, a custom integration to a robot model that has I/Os but is not supported by our software components.

Knowledge

We have 2 different type of I/O coupling. One designed for UR and one designed for TM.

UR robot tool IO:

  • Digital Output are NPN
  • Digital input are PNP


TM robot tool IO:

  • Digital output NPN
  • Digital input are NPN

Here are the positions of the Pins : 

 

1. You need first to verify that your robot has an I/O Port that respects these configurations. 

Ex : Doosan use PNP for both input and output so TM or UR IO coupling cannot be used by connecting it to the wrist. You can use an adpator to control it directly to the controller of the robot. 

 

2. Then, you need to control the I/O Coupling Manualy. 

The I/O coupling is a product that enables the control of Robotiq adaptive and vacuum grippers using 2 inputs and 2 outputs from a robot to trigger action presets pre-programmed in the coupling.

For Universal Robots (model CB3), Techman, and Omron/TM cobots, we have some software components to manage the trigger of those I/Os.

However, one may want to program its own control of those presets. For example, a custom integration to a robot model that has I/Os but is not supported by our software components.

 

a. The first step to initiate the communication between the robot and the gripper is to launch the initialization command to the gripper so it can calibrate its positions.

To do so, the following steps must be done using the two connected inputs (robot outputs):

zoom

b. It will then be possible to trigger each presets by writing one of the four possible combinations using the two outputs (00,01,10,11).

 

It is also possible to read from the two outputs of the coupling (connected to the robot's inputs)

Value of digital inputs (Respectively byte 0 and 1):

  • 00 = Not Ready (also when not activated)
  • 11 = Gripper Ready
  • 01 = Object detected