OnRobot 3FG15 User Manual Download

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Additional Software Options

3FG15

The state of the gripper could be:

•

Busy

- the gripper is in motion

•

Grip detected

- the gripper has detected a workpiece

•

Force grip detected

- the gripper has applied the target force to a workpiece. This also

activates a break. See more info in section

Finger movement and force on page 79.

The gripper can be controlled in two modes:

•

Move

mode - The easiest way to move the gripper but the gripping force is limited (<50N).

This should be used to release a part and open the gripper.

•

Grip

mode - This should be used to properly grip a part with a given target force. If the

part is properly gripped (target force is reached) the break will engage to make sure the

part will not be dropped in case of a power loss.

Summary of Contents for 3FG15

Page 1: ...USER MANUAL FOR HANWHA ROBOTS ORIGINAL INSTRUCTION EN v1 1 6...

Page 2: ...utomatic Safety Feature 11 3 Installation 12 3 1 Overview 12 3 2 Mounting 12 3 2 1 Quick Changer options 13 3 2 2 Tools 15 3 3 Wiring 22 3 3 1 Tool data cable 22 3 3 2 Ethernet cable 23 3 3 3 Power su...

Page 3: ...2 Mechanical Drawings 129 6 2 1 Adapter plate s 129 6 2 2 Mountings 129 6 2 3 Tools 133 6 3 Center of Gravity 145 7 Maintenance 148 8 Warranties 153 8 1 Patents 153 8 2 Product Warranty 153 8 3 Discl...

Page 4: ...he HW version of the Compute Box refer to the sticker on the device Orcheck the HW version in the Web Client software Where applicable the combination of the products is also covered in the manual NOT...

Page 5: ...given information is relevant for the following visual highlights are used RG2 This is an instruction relevantfor the RG2 product only RG6 This is an instruction relevantfor the RG6 product only VG10...

Page 6: ...of the integrator Collecting all documentation in a technical file including the risk assessment and this manual 2 1 Intended Use OnRobot tools are intended to be used on collaborative robots andligh...

Page 7: ...ds and regulations of the country where the robot is installed Any safety information provided in this manual must not be construed as a warranty by OnRobot A S that the robot application will not cau...

Page 8: ...movement OnRobotA Shaveidentifiedthepotentialhazardslistedbelow assignificanthazardsthatmust be considered by the integrator Objects flying from OnRobot tools due to loss of grip Objects falling down...

Page 9: ...of the product Motion is then prevented as long as one or both of the two buttons are activated If this happens while running the robot program user can detect this condition with the help of the pro...

Page 10: ...rt and the surface where the action takes place is within the range of 0 8 mm see image below If the distance is higher than this the Screwdriver operations will not be successful andthe system will g...

Page 11: ...ety activated If this happens the safety state becomes triggered To reset from this state command the shank to a new position Additionally if the bottom part of the Screw bit System detects an unexpec...

Page 12: ...ng steps will be required Mount the components Setup the software In the following sections these installation steps will be described 3 2 Mounting Required steps Mount the QuickChanger option Mount t...

Page 13: ...9 1 50 4 M6 Use 10 Nm tightening torque Quick Changer 3FG15 HEX E H QC RG2 6 RG2 FT Screwdriver VG10 VGC10 QC R v2 QC R v2 4 5 A Dual Quick Changer Dual Quick Changer 1 M6x20mm ISO14580 8 8 2 Dual Qui...

Page 14: ...HEX E H QC 1 HEX E H QC sensor 2 M4x6mm ISO14581 A4 70 3 M6x8mm NCN20146 A4 70 4 HEX E H QC adapter 5 Adapter Robot tool flange ISO 9409 1 50 4 M6 Use 1 5 Nm tightening torque for M4x6mm Use 10 Nmtig...

Page 15: ...tep 1 Move the tool close to the Quick Changer as illustrated The hook mechanism rod and hook tongue will keep the lower part locked once mounted Step 2 Flip the tool until it is fully mated and you h...

Page 16: ...u hear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order To change the relative angle of the gripper to the QuickChanger fir...

Page 17: ...ou hear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order To change the relative angle of the gripper to the QuickChanger fi...

Page 18: ...hear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order To change the relative angle of the gripper to the QuickChanger firs...

Page 19: ...aluminum button on the Quick Changer and repeat the steps in the reverse order CAUTION Make sure to use the 4 5A version of the Quick Changers SG Step 1 Move the tool close to the Quick Changer as ill...

Page 20: ...o unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order VGC10 Step 1 Move the tool close to the Quick Changer as illustrated The hook mechanism rod...

Page 21: ...er as illustrated The hook mechanism rod and hook tongue will keep the lower part locked once mounted Step 2 Flip the tool until it is fully mated and you hear a clicking sound To unmount the tool pre...

Page 22: ...able First connect the data cable to the tool For Single or Dual 3FG15 RG2 RG6 Screwdriver SG VG10 or VGC10 Use the M8 8pin connector on the Quick Changer or on the Dual QuickChanger Use the cable hol...

Page 23: ...when the robot moves Also make sure that the cable bending radius is minimum 40mm for the HEX E H QC it is 70mm Finally connect the other end of the Tool data cable tothe Compute Box s DEVICES connec...

Page 24: ...omputeBoxenclosure metal and the robot controller enclosure metal are not connected no galvanic connection between the two 3 3 3 Power supply Connect the supplied power supply to the Compute Box 24V c...

Page 25: ...e OnRobot Rodi X Plug in Set the robot IP address Setup the OnRobot plug in 3 4 1 Install the OnRobot Rodi X Plug in Prepare the supplied OnRobot USB stick and plug it into the robot controller or the...

Page 26: ...Installation 26 On the Rodi X Plug in screen clickon the Add button Browse for the OnRobot asar file on the USB stick and click OK then Restart the system...

Page 27: ...this would not work then assign a static IP address to the robot that matches your current IP settings on your Compute Box default IP address is 192 168 1 1 NOTE Make sure to change the last number i...

Page 28: ...Installation 28 Then click Apply...

Page 29: ...Installation 29 3 4 3 Setup the OnRobot plug in In the Rodi X menu choose OnRobot devices Enter the IP address of your Compute Box the factory default is 192 168 1 1 Software setup is finished...

Page 30: ...finished successfully If not first do the installation steps in the previous section 4 1 General overview You can use the previously installed OnRobot components to operate the OnRobot device s To fin...

Page 31: ...4 1 1 Tool specific parameters In order to send commands to or receive data from a specific OnRobot tool click on the respective icon on the Rodi X tab The icon representing your command will appearin...

Page 32: ...Operation 32 By clicking this icon in the program the parameter window will appear First the mounting method must be defined in the Device drop down menu...

Page 33: ...Operation 33 4 1 2 Commands By selecting Command in the Task drop down menu you can send commands tothe tool NOTE For this a variable with the correct type needs to be declared first...

Page 34: ...Operation 34 By selecting either Command or Query the content will automatically be updated toshow the relevant options...

Page 35: ...fic section NOTE In case the created variable is not the right type it will notappearin the drop down menu After creating a new variable the property window may need to be refreshed by clicking on ano...

Page 36: ...a will be stored in variables The variable with the correct type needs to be declared first You can do this by clicking on the Variables icon and then press Add The proper variable type can be chosen...

Page 37: ...ion 37 By clicking on the row of the newly created variable in the Variables list a custom name can be given that makes it easier to find and use it later Here a default value can also be given if nec...

Page 38: ...to include them in every cycle or the command has to run parallel to the program You will have to insert these commands in the Initialization section of the program By clicking the Initialize icon a n...

Page 39: ...Operation 39 4 2 Commandsand Queries In the following the tool specific commands queries and properties will be described 3FG15 40 HEX E H QC 42 RG2 6 43 RG2 FT 43 Screwdriver 45 SG 47 VG10 VGC10 48...

Page 40: ...in the initialization partof the program Set finger position Here you can specify the mounting position of the fingers Set FingerLength In caseyou usecustomfingers you can specifythefingerlengthhere...

Page 41: ...orce lock is not necessary in this case Get Force Grip State Boolean type The value will be true if the force lock is activated Get Error Status Number type Returns an error code which can be found in...

Page 42: ...nzeroing the bias the force and torque zero values will be reset to default By clicking the Execute button you can execute the command immediately Queries Get Force N Torque Nm values stores the force...

Page 43: ...t here If the Wait for grip checkbox is checked the program will wait for the set force value to occur before progressing to the next step Set FingerTip Offset the distance between the surface of the...

Page 44: ...turns the difference between the current position andthe previous position of the fingertips in Z direction Get Fingertip Offset mm Number type Returns the current fingertipoffset RG2 FT only queries...

Page 45: ...without carrying out any movements In this commandtheseoptions canbeselected popupwindow log message and program stopping By clicking the Execute button you can execute the command immediately If the...

Page 46: ...umber type Returns the QC version 1 means the default version 2 means the high power version Get Shank Position mm Number type Returns the current position of the shank Get Current Force N Number type...

Page 47: ...s By clicking the Execute button you can execute the command immediately Queries Get SG Busy State Boolean type This is true when the silicone is in motion either inward or outward Get SG InitializeSt...

Page 48: ...ly generate vacuum to hold the set level Release turning off the vacuum and opening the valves to drop the part The A and B channels can be controlledseparately Idle the VGx will turn off the vacuum p...

Page 49: ...seinputsandoutputs can be programmed through the OnRobot WebLogic that requires the Ethernet interface to be used only for programming time 5 1 2 Web Client To access the Web Client on your computer f...

Page 50: ...appear Devices Monitor and control the connected devices e g grippers Configuration Change the Compute Box s settings WebLogic Programthe Digital I O interface through OnRobot WebLogic Paths Import ex...

Page 51: ...Additional Software Options 51 Devices menu To control monitor a device click on the Select button 3FG15 52 HEX E H QC 55 RG2 6 56 RG2 FT 58 Screwdriver 60 SG 62 VG10 VGC10 64...

Page 52: ...more info in section Finger movement and force on page 79 The gripper can be controlled in two modes Move mode Theeasiestwaytomovethegripperbutthegripping force is limited 50N This should be usedto r...

Page 53: ...ctivate the Grip detected open fully for an internal grip orclose fully for an external grip Basedon whetheritwillbeexternalorinternalthe Current calculatedtarget diameter for the grip is shown The fi...

Page 54: ...nger position and Save Set finger length If customized fingers are needed the checkbox can be enabled and the new finger length can be entered Set fingertip offset The 4 different types that are deliv...

Page 55: ...oachievedifferentdiameters andforces Find more information in sections Gripping Forces andGripping Diameters HEX E H QC The force and torque values Fx Fy Fz and Tx Ty Tz are shown in N Nm The Zero tog...

Page 56: ...is reached but the set width is not The status of the two safety switch shows Pushed the safety switch 1 2 is still being pushed Triggered the safety switch 1 2 has been activated andgripper is stopp...

Page 57: ...tfingertips attachedtothegripper Offset is measured from the inner mating face of the bar metal fingertips To save the value to the gripper permanently click Save The gripper can be controlled by adju...

Page 58: ...values Fx Fy Fz and Tx Ty Tz are shown in N Nm along with the Proximity sensor values optical distance sensor built in the fingertip are show in mm for the left and right fingertipsensor The Zero togg...

Page 59: ...ite paper between the fingertips Read the actual Left and Right Proximity values e g 19mm and25mm Write these values to the Left andRight edit boxes andclickon the Save button to store it permanently...

Page 60: ...Additional Software Options 60 Screwdriver The state of the gripper Torque Shows the currenttorque...

Page 61: ...rew and thread if no piece is used set it as 0 This amount will be subtracted from the Screw length toprovide the resulting Screwing length C This is the chamfer deepness This amount will be subtracte...

Page 62: ...Additional Software Options 62 SG The States of the gripper could be Busy the gripper is moving Initialized the gripper has been initialized...

Page 63: ...default gripping speed is set as Gentle grip the gripping speed is reduced at 12 5mm before the specified target width this results in a gentler grip compared to normal grip settings The gripper can...

Page 64: ...nd always restored to the default value on power reset Higher power limit value means the required vacuum level is reached faster higher airflow but if it is set too fast overshoot may occur Low power...

Page 65: ...an IP address from a DHCP server If the network that the device is connected to has no DHCP server then the fixed 192 168 1 1 IP is used for the device after 60 seconds of timeout If it is set to Sta...

Page 66: ...he Compute Box needs to be the Scanner the following addition information is requiredfor the communication IP address to connect to the robotIP address Origin to target instanceid refer to the robot s...

Page 67: ...port andbrowse for the file The available Paths are listed at the end of the page Any paths can be exported and downloaded as a ofp file or permanently deleted to free up the list if a path is not nee...

Page 68: ...the software on the Compute Box and the firmware on the devices Start the software update by clicking on the Browse button to browse for the cbu software update file Then the Browse button will turn...

Page 69: ...e and use it as usual NOTE If the software update failed please contact your distributor The firmware update is only required when any of the components is out of date To start the firmware update cli...

Page 70: ...Additional Software Options 70 Now disconnect the device and use it as usual NOTE If the update is failed please contact your distributor...

Page 71: ...er Go to Account settings Sign out Account settings This page has two tabs My profile to see and update the currently logged in users profile e g change password Users to manage users e g add remove e...

Page 72: ...the Users tab click on the Add new user button to add more users There are three user levels Administrator Operator User Fill in the user information and click Save Later on to change any user inform...

Page 73: ...Additional Software Options 73 To prevent a user to sign in eithercouldbe deactivated by changing its Active status in the edit mode or removed by clicking the delete icon...

Page 74: ...rdware Specification 6 1 Technical sheets 3FG15 75 HEX E QC 80 HEX H QC 82 Quick Changer 84 Quick Changer for I O 84 Dual Quick Changer 84 Quick Changer Tool side 84 RG2 FT 85 RG2 90 RG6 93 Screwdrive...

Page 75: ...n accuracy 0 1 0 004 0 2 0 007 mm inch Gripping force 10 240 N Gripping force adjustable 1 100 Gripping speed diameter change 125 mm s Gripping time including brake activation 500 ms Hold workpiece if...

Page 76: ...ions to achieve different Gripping Forces below and different Gripping Diametersbelow The delivered finger length is 49 mm L in the drawing below If custom fingers are required they can be made to fit...

Page 77: ...teel 13 5 mm silicone 16 5 mm silicone If custom fingertips are required they can be made to fit the Gripper s fingers according tothe dimensions mm inch shown below The needed screws are M4x8mm In th...

Page 78: ...ernal and external grip the lower the finger angle the higher the force that will be applied as shown in the graph below Although the fingers can move from 0 to 180 the angle range of an external grip...

Page 79: ...the GUI This brake will hold the workpiece with the applied force with no power consumption and holding the workpiece in case of power loss This brake will automatically be deactivated when the gripp...

Page 80: ...al Capacity N C 200 200 10 6 5 N Nm Single axis deformation at N C typical 1 7 0 067 0 3 0 011 2 5 2 5 5 5 mm inch Single axis overload 500 500 500 500 Signal noise typical 0 035 0 15 0 002 0 001 N Nm...

Page 81: ...The sensor cannot be operated outside of the Normal Operating Area 0 2 5 5 7 5 10 0 50 100 150 200 Txy Nm Fxyz N Txy Fxyz 0 1 625 3 25 4 875 6 5 0 50 100 150 200 Tz Nm Fxyz N Tz Fxyz Normal Operating...

Page 82: ...inal Capacity N C 200 200 20 13 N Nm Single axis deformation at N C typical 0 6 0 023 0 25 0 009 2 2 3 5 3 5 mm inch Single axis overload 500 400 300 300 Signal noise typical 0 1 0 2 0 006 0 002 N Nm...

Page 83: ...83 The sensor cannot be operated outside of the Normal Operating Area 0 3 25 6 5 9 75 13 0 50 100 150 200 Tz Nm Fxyz Tz Fxyz Normal Operating Area 0 5 10 15 20 0 50 100 150 200 Txy Nm Fxyz N Txy Fxyz...

Page 84: ...s Repeatability 0 02 mm IP Classification 67 Operating life Tool change 5 000 cycles Operating life Robot operation 10 M cycles See load capacity graph below Quick Changer Quick Changer for I O Dual Q...

Page 85: ...ature compensation 2 General Properties Min Typical Max Units Payload Force Fit 2 4 4 kg lb Payload Form Fit 4 8 8 Kg lb Total stroke adjustable 0 0 100 3 93 mm inch Finger position resolution 0 1 0 0...

Page 86: ...type and color Proximity sensor typical accuracy 20 10 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 Proximity sensor reading mm Part distance mm Ideal Response White colour Alumin...

Page 87: ...Hardware Specification 87 RG2 FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters...

Page 88: ...ication 88 Fingertips The standard fingertips can be used for many different workpieces If custom fingertips are required they can be made to fit the Gripper fingers Dimensions of the Gripper s finger...

Page 89: ...rectional laser sources Direct high temperature Mechanical contacts in any case Expose to any liquidor fine conductive dust NOTE Please clean regularly the proximity sensor surface with low pressure c...

Page 90: ...004 mm inch Repetition accuracy 0 1 0 004 0 2 0 007 mm inch Reversing backlash 0 1 0 004 0 3 0 011 mm inch Gripping force adjustable 3 40 N Gripping force deviation 25 Gripping speed 38 127 mm s Gripp...

Page 91: ...Hardware Specification 91 RG2 Gripping Speed Graph RG2 Work Range...

Page 92: ...calculated from the end of the fingertips is dependent on the gripping width w For various width values the height h limit is given below Fingertips The standard fingertips can be used for many differ...

Page 93: ...004 mm inch Repetition accuracy 0 1 0 004 0 2 0 007 mm inch Reversing backlash 0 1 0 004 0 3 0 011 mm inch Gripping force adjustable 25 120 N Gripping force deviation 25 Gripping speed 51 160 mm s Gr...

Page 94: ...Hardware Specification 94 RG6 Gripping Speed Graph RG6 Work Range...

Page 95: ...calculated from the end of the fingertips is dependent on the gripping width w For various width values the height h limit is given below Fingertips The standard fingertips can be used for many differ...

Page 96: ...35 1 37 mm inch Shank stroke screw axis 55 2 16 mm inch Shank preload adjustable 0 10 25 N Safety feature force 35 40 45 N Storage temperature 0 32 60 140 C F Motor x2 Integrated electric BLDC IP Clas...

Page 97: ...n head Appearance Standard Supported Thread Size M1 6 N A N A N A N A M2 N A M2 5 N A M3 M4 M5 M6 Torque accuracy graph 0 15 1 33 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 0 11 0 12 0 13 0 14...

Page 98: ...is highly recommended to set up the Screw bit System correctly to keep a high success rate Example of the Screw bit System for an ISO 14579 screw The sections below explain the differentcomponents of...

Page 99: ...A N A N A M2 N A M2 5 N A M3 M4 M5 M6 Din 912 ISO 4762 ISO 14579 ISO 14580 ISO 14581 DIN 7985A S1 5 M1 6 M1 6 B S1 5 M2 M2 3 A T6 M2 M2 3 A T6 M2 B PH1 M2 B S2 M2 5 M2 3 A T8 M2 5 M2 3 A T8 M2 5 B PH...

Page 100: ...rates a magnetic force that will keep the screw attached andaligned tothe bit The Bit holder A generates a higher magnetic force than B Therefore the bit holder B is commonly used for the smaller and...

Page 101: ...ew type and size The screw carriers have signifiers to help identifying what screw type and size these can be used with Screw thread size Screw type illustration The screw fixes are only needed for th...

Page 102: ...ence Din 912 ISO 4762 ISO 14579 ISO14580 ISO 14581 DIN 7985A When this is achieved remove the screw and push in the screw fix only Din 912 ISO 4762 ISO 14579 and ISO 14580 screw types The final setup...

Page 103: ...cture below The system will be attached to the screwdriver by a magnetic force To remove the Bit holder from the screwdriver s shank follow the bullets below 1 Move the shank all the way out to positi...

Page 104: ...w or thread 2 The distance between the Screwdriver s bottom part and the surface where the action takes place must be within the range of 0 8 mm LED Device status The screwdriver has a LED that shows...

Page 105: ...thread is differentfromthe screw thread The hole thread is not clean for instance by deburrs from CNC machining The friction between the screw thread and the hole threadis too low or toohigh The fric...

Page 106: ...BLDC IP Classification IP67 Dimensions H x 84 x 98 3 3 x 3 85 mm inch Weight 0 77 1 69 kg lb Gripping time is tool depended See the separate SG Datasheet for the tool specificgripping time NOTE Forte...

Page 107: ...its presentationin theapplication Thishelps todefine which tool to choose and the actual grip width on it A general overview of such parameters is listed below Shape Dimension Weight Roughness Fragili...

Page 108: ...accommodate for vibrations andother unexpected conditions For heavy and large workpieces test at low velocity and with caution NOTE For individual SG tool examples See the separate SG tool manual The...

Page 109: ...rfectly C Make sure there is no gap between the SG tool and the ring D It is highly recommended to install the SG Base Part on the robot before installing the SG tool MakesuretheSGBasePartis in home p...

Page 110: ...Part and rotate CW to align the two markings J WARNING When working with the SG please make sure that the grippers inward outward motion is not obstructed otherwise the positioning system may get out...

Page 111: ...arms do not move when handling 15 kg payloads The VG10 suction cups are grouped into twoindependent channels General Properties Minimum Typical Maximum Unit Vacuum 5 0 05 1 5 80 0 810 24 Vacuum Bar in...

Page 112: ...rs depends primarily on the following parameters Vacuum cups Vacuum Air flow Vacuum Cups Choosing the right vacuum cups for your application is essential The VG grippers come with common 15 30 and 40...

Page 113: ...t common non porous materials are listed below Composites Glass High density cardboard High density paper Metals Plastic Porous materials with a sealed surface Varnished wood In an idealcase working w...

Page 114: ...Pa It is often a good idea to use more vacuum cups than needed to accommodate for vibrations leaks and other unexpected conditions However the more vacuum cups the more air leakage air flow is expecte...

Page 115: ...alisttofindthe optimal vacuum cupwhere the standard types are insufficient Fittings and Blind Screws It is possible to change suction cups simply by pulling them off the fittings It might be a bit cha...

Page 116: ...ing workpieces The smallest leak under a vacuumcupcan be hard to find see picture below Leaking workpieces can be even harder to identify Things that lookcompletely tight might not be tight at all A t...

Page 117: ...oardbox is sufficiently tight is simply to test it using the VG grippers A high vacuumpercentage setting does not give a higher lifting capacity on corrugated cardboard In fact a lower setting is reco...

Page 118: ...Vacuum 5 0 05 1 5 80 0 810 24 Vacuum Bar inHg Air flow 0 12 L min Payload With default attachments 6 13 2 kg lb With customized attachments 10 22 15 33 1 kg lb Vacuum cups 1 7 pcs Gripping time 0 35 s...

Page 119: ...ndently forvacuum The Adaptor Plate can be placed in different positions by rotating it 90 Having as reference the letters A and B written on the gripper housing the Adaptor Plate can be placed tosepa...

Page 120: ...g in the Adaptor Plate is not glued therefore it can be pulledout If that happens simply putit back in place and the gripper will work as before Extension Pipe The Extension Pipe provides an extraleng...

Page 121: ...achments are shown Customized Adaptor Plates and Push in Fittings The design of the VGC10 is meant to facilitate the users to make their own adaptor plates to create different kinds of configurations...

Page 122: ...required remote vacuum In most cases this size is enough for generating the needed vacuum from the pump in the gripper The commercial name of the Push in Fittings is Fitting QSM G1 8 4 I R in case som...

Page 123: ...osing the right vacuum cups for your application is essential The VG grippers come with common 15 30 and 40 mm silicone vacuum cups see table below which are goodfor hard and flat surfaces but not goo...

Page 124: ...ith a sealed surface Varnished wood In an idealcase working with non porous materialworkpieces wheretherearenoairflow going through the workpiece the table below shows the number of cups and the cup s...

Page 125: ...eral recommendations in case other suction cups are needed for specific materials Workpiece surface Vacuum cup shape Vacuum cup material Hard and flat Normal or dual lip Silicone or NBR Soft plastic o...

Page 126: ...ea level Air flow Air flow is the amount ofairthat mustbe pumpedto maintain the target vacuum A completely tight system will not have any air flow whereas real life applications have some smaller air...

Page 127: ...llowing VG grippers are not suitable for most uncoated coarse cardboard boxes Extra attention must be paidto leakages e g vacuum cup shape and surface roughness The air flow capability of a VGgrippers...

Page 128: ...Hardware Specification 128 A low vacuum setting results in less air flow and less friction below the vacuum cups This means VG gripper filters and vacuum cups will last longer...

Page 129: ...Hardware Specification 129 6 2 Mechanical Drawings 6 2 1 Adapter plate s No adapter plates are required 6 2 2 Mountings Quick Changer Robot side 130 Dual Quick Changer 131 HEX E H QC 132...

Page 130: ...Specification 130 Quick Changer Robot side Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches NOTE The cableholder on theleftside is onlyrequiredwith thelong 5met...

Page 131: ...Hardware Specification 131 Dual Quick Changer Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches...

Page 132: ...Hardware Specification 132 HEX E H QC Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches...

Page 133: ...Hardware Specification 133 6 2 3 Tools 3FG15 134 RG2 FT 135 RG2 136 RG6 137 Screwdriver 138 SG 139 VG10 140 VGC10 142 Quick Changer Tool side 144...

Page 134: ...Hardware Specification 134 3FG15 All dimensions are in mm and inches...

Page 135: ...Hardware Specification 135 RG2 FT All dimensions are in mm and inches...

Page 136: ...Hardware Specification 136 RG2 All dimensions are in mm and inches...

Page 137: ...Hardware Specification 137 RG6 All dimensions are in mm and inches...

Page 138: ...Hardware Specification 138 Screwdriver All dimensions are in mm and inches...

Page 139: ...Hardware Specification 139 SG All dimensions are in mm and inches The Silicone Tool parts that are attached to the SG base part are described in the SG Datasheet...

Page 140: ...Hardware Specification 140 VG10 All dimensions are in mm and inches...

Page 141: ...Hardware Specification 141 All dimensions are in mm and inches...

Page 142: ...Hardware Specification 142 VGC10 All dimensions are in mm and inches...

Page 143: ...Hardware Specification 143 All dimensions are in mm and inches...

Page 144: ...Hardware Specification 144 Quick Changer Tool side All dimensions are in mm and inches...

Page 145: ...83 1 15 kg 2 5 lb With delivered fingers and13 5 silicone fingertips on HEX E H QC Coordinate system TCP mm Center of Gravity mm Weight X 0 Y 0 Z 50 cX 0 cY 5 cZ 20 0 35 kg 0 77 lb RG2 FT Coordinate s...

Page 146: ...Center of Gravity mm Weight X 153 Y 0 Z 81 cX 0 cY 4 cZ 50 2 5 kg 5 51 lb SG Without any Silicone Tool only the SG Base Part with spindle in Coordinate system TCP mm Center of Gravity mm Weight X 0 Y...

Page 147: ...Weight X 0 Y 0 Z 155 cX 12 cY 5 cZ 46 0 937 kg 2 06 lb VG10 Coordinate system TCP mm Center of Gravity mm Weight X 0 Y 0 Z 105 cX 15 cY 0 cZ 54 1 62 kg 3 57 lb With arms folded back VGC10 Coordinate...

Page 148: ...Arm Tooling and the robot Failure to comply with this precaution can cause unexpected risks resulting in severe injury If you have questions regarding spare parts and repair please visit our website...

Page 149: ...fix is wore or has been damaged It that is the case it will be evident enough to be visually detected WARNING The Screw bit System shouldbe visually inspectedevery time the robot is reset or once per...

Page 150: ...62 ISO 14579 ISO 14580 ISO 14581 DIN 7985A Thread Size Spare part kit number Part Number M1 6 Kit 3 PN 105150 N A N A N A N A M2 Kit 4 PN 105151 Kit 10 PN 105157 N A Kit 16 PN 105163 Kit 22 PN 105169...

Page 151: ...the silicone part Dish soap Alcohol regularethanol isopropanol and acetone works as well for cleaning Do not use concentrated acids and alkalis since these can potentially damage the silicone in parti...

Page 152: ...ntify how often the filters need service and schedule maintenance with a fixed period short enough to ensure a firm grip at all times An overall inspection of the VG grippers must be performed regular...

Page 153: ...Claims underthewarranty must be submitted within two months of the warranty default becoming evident Ownership of devices or components replaced by and returned to OnRobot A Sshall vest in OnRobot A S...

Page 154: ...Certifications 154 9 Certifications...

Page 155: ...Certifications 155...

Page 156: ...Certifications 156...

Page 157: ...Certifications 157...

Page 158: ...Certifications 158...

Page 159: ...Certifications 159...

Page 160: ...Certifications 160...

Page 161: ...Certifications 161...

Page 162: ...material or article concerning any limitations in particular max use limits or limits on migration or extraction the effect on taste and smell of the food and the suitability of the article for the sp...

Page 163: ...e deviation chemical and flavoured 2 5 From 61 Statement of BfR Bundesgesundheitsbl 46 2003 362 5 Analysis BfR recommendation XVon silicone Parameter Result Limit value Extractable components in water...

Page 164: ...material or article concerning any limitations in particular max use limits or limits on migration or extraction the effect on taste and smell of the food and the suitability of the article for the sp...

Page 165: ...to intense deviation chemical and flavoured 2 5 From 61 Statement of BfR Bundesgesundheitsbl 46 2003 362 5 Analysis BfR recommendation XVon silicone Parameter Result Limit value Extractable components...

Page 166: ...recommendation XVon silicone Parameter Result Limit value Extractable components in water 0 2 0 5 Extractable components in 3 acetic acid 0 3 0 5 Extractable components in 10 ethanol 0 2 0 5 Volatile...

Page 167: ...Certifications 167 9 1 Declaration ofIncorporation 3FG15 168 HEX E 169 HEX H 170 RG2 FT 171 RG2 172 RG6 173 Screwdriver 174 SG 175 VG10 176 VGC10 177...

Page 168: ...ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in ele...

Page 169: ...ents ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available i...

Page 170: ...ents ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available i...

Page 171: ...ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in el...

Page 172: ...Directive 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in elect...

Page 173: ...Directive 2006 42 EC relies on the specific robot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in elec...

Page 174: ...ot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in electronic form to national authorities upon legiti...

Page 175: ...ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in ele...

Page 176: ...fDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in elec...

Page 177: ...ofDirective 2006 42 EC relies on the specificrobot installation and the final riskassessment Technical documentation is compiled according to Directive 2006 42 EC annex VII part B and available in ele...

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