OnRobot Gecko SP1 User Manual Download Page 15 | Manualshive

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5.2. URScript Commands

URScript commands can be used alongside other scripts.

5.2.1. Gecko SP1/3/5

5.2.1.1. Grip and Release

An example file is provided on the USB stick that demonstrates how to grip and release, with
the help of the previously set TCP.

OPERATION

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Summary of Contents for Gecko SP1

Page 1: ...USER MANUAL FOR UR ROBOTS v1 4 1 Original Instructions...

Page 2: ...er Robot Side 9 3 2 2 2 Gecko SP1 3 5 9 3 2 3 Tools 9 3 2 3 1 Gecko SP1 3 5 9 4 SW Installation 11 4 1 Gecko SP1 3 5 SW Installation 11 5 Operation 12 5 1 Gecko SP Operation 12 5 1 1 How the Gecko SP...

Page 3: ...cing the Gripper Pads 28 7 1 2 Replacing the Spring Greasing the Bearing 28 8 Troubleshooting 30 8 1 Tool Functions Are Not Available 30 8 2 Error During Operation 30 9 Warranties 31 9 1 Patents 31 9...

Page 4: ...onents 1 2 1 Gecko SP1 3 5 Tool Version Gecko SP1 3 5 v1 1 3 Copyright The information contained herein is property of OnRobot A S and shall not be reproduced in whole or in part without prior written...

Page 5: ...to be used on collaborative robots and light industrial robots with different payloads depending on the end of arm tooling specifications OnRobot tools are normally use in pick and place palletizing m...

Page 6: ...g errors or malfunctioning of any of OnRobot tools WARNING OnRobot tools are not allowed to be exposed to condensing conditions when power is on or when connected to a robot If condensing conditions a...

Page 7: ...s if OnRobot tools cable gets stuck to something Workpiece itself represents a hazard 2 4 Environmental Safety OnRobot A S products must be disposed of in accordance with the applicable national laws...

Page 8: ...hanger option 4 Mount the tool s if applicable 3 2 1 Optional Angle Bracket Angle Bracket 1 M6x10 screws ISO14580 8 8 2 Angle Bracket ISO 9409 1 50 4 M6 3 Dowel pin 6x10 ISO2338 h8 4 Adapter Robot too...

Page 9: ...ISO 9409 1 50 4 M6 3 Dowel pin 6x10 ISO2338 h8 4 Adapter Robot tool flange ISO 9409 1 50 4 M6 Use 10 Nm tightening torque 3 2 2 2 Gecko SP1 3 5 Tool QC R v2 QC R v2 4 5 A Gecko SP1 3 5 3 2 3 Tools 3 2...

Page 10: ...hanism 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 press the aluminum button on the...

Page 11: ...4 SW Installation 4 1 Gecko SP1 3 5 SW Installation To use the Gecko SP1 3 5 gripper no URCap is required SW INSTALLATION 11...

Page 12: ...w to Grip and Release with the Gecko SP 5 1 1 How the Gecko SP Works Gripper pick and place is entirely mechanical and operation is controlled by the robot arm The Gecko Gripper attaches to flat and s...

Page 13: ...he robot needs to be moved down a maximum of 4 mm to apply the required preload When fragile object needs to be handled less then 4mm downward movement can be made for smaller preload force Now the wo...

Page 14: ...esign is completely at the user s discretion 5 1 2 TCP Setup As highlighted in the previous section it is very important to set the right TCP before the peeling The peeling function will require X or...

Page 15: ...commands can be used alongside other scripts 5 2 1 Gecko SP1 3 5 5 2 1 1 Grip and Release An example file is provided on the USB stick that demonstrates how to grip and release with the help of the p...

Page 16: ...al properties Unit Material Proprietary silicone blend Wear properties Depends on surface roughness Change out interval 200 000 cycles Cleaning systems 1 OnRobot cleaning station 2 Silicone roller 3 I...

Page 17: ...it is important to understand the following key operating principles to use the gripper correctly and to achieve optimal gripper performance This is VERY important Surface Roughness Affects Gripping T...

Page 18: ...ject movement can decrease the adhesion force of the gripper causing it to drop the objects Pads will Wear Out Over time the gecko pads will wear and require replacement There is no deterministic way...

Page 19: ...rror like steel metal solar panel 1 5 Cling film ziploc bags 5 5 Glossy carboard cereal box 10 5 Printed circuit board 1 10 Laminating plastic film 5 10 Corrugated cardboard 10 10 Sandblasted aluminum...

Page 20: ...m 1 10 here are the benchmarks used to determine the values Stiffness Description Example 1 Flexible Fabric 5 Semi flexible Cardboard 10 Stiff Metal Roughness Description Example RMS Value 1 Polished...

Page 21: ...6 2 2 Angle Bracket Distance from Robot flange interface to OnRobot Quick Changer All dimensions are in mm and inches HARDWARE SPECIFICATION 21...

Page 22: ...Quick Changer Robot Side Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches NOTE The cable holder on the left side is only required with the long 5 meter cable HA...

Page 23: ...Changer for I O Robot Side Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches 6 2 4 Tools 6 2 4 1 Gecko SP1 3 5 All dimensions are in mm and inches HARDWARE SPEC...

Page 24: ...g 0 577 lb With 60 pad size 6 3 2 Angle Bracket Options for mounting Rotation of the QC and the tool whether the QC connector points to A B C D side of the Angle Bracket when mounted A B C D External...

Page 25: ...e Not calculated but possible to use Not possible to use External mounting with QC connector on the A side Coordinate system TCP mm Center of Gravity mm Weight X 0 Y 55 Tool Z value Z 63 Tool Y value...

Page 26: ...Gravity mm Weight X 0 Y 12 Tool Z value Z 63 Tool Y value RX 90 RY 0 RZ 0 cX 0 cY 55 Tool Z value cZ 63 Tool Y value 0 207 kg 0 456 lb Example with an RG2 tool TCP mm Center of Gravity mm X 0 Y 12 200...

Page 27: ...are clean and dry The pads can collect dust so it is best to use the Gecko Gripper SP in a clean environment and or establish a routine cleaning schedule Part Description of Maintenance Frequency Pad...

Page 28: ...before operation 7 1 2 Replacing the Spring Greasing the Bearing Remove pad while being careful to protect the bottom contact area Remove main body from mount feature by unscrewing in the counterclock...

Page 29: ...WARNING The springs are color coded make sure to use the right replacement spring for your gripper Gecko SP1 spring Zinc Gecko SP3 spring Gold Gecko SP5 spring Uncoated MAINTENANCE 29...

Page 30: ...turn to the Installation tab URCaps Device info and then back to the program 8 2 Error During Operation If an error occurs during operation try the following 1 Restart the robot and check the function...

Page 31: ...warranty must be submitted within two months of the warranty default becoming evident Ownership of devices or components replaced by and returned to OnRobot A S shall vest in OnRobot A S Any other cla...

Page 32: ...10 Certifications CERTIFICATIONS 32...

Page 33: ...10 1 EMC CERTIFICATIONS 33...

Page 34: ...10 2 Declaration of Incorporation 10 2 1 Gecko SP1 3 5 CERTIFICATIONS 34...

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