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Introduction 

3 

7  Hardware Specification......................................................................................................... 141 

7.1  Technical sheets............................................................................................................. 141 
7.2  Mechanical Drawings ..................................................................................................... 179 

7.2.1  Adapter plate(s) ................................................................................................... 179 
7.2.2  Mountings............................................................................................................ 179 
7.2.3  Tools.................................................................................................................... 184 

7.3  Center of Gravity............................................................................................................ 194 

8  Maintenance ........................................................................................................................ 196 

9  Warranties ........................................................................................................................... 199 

9.1  Patents .......................................................................................................................... 199 

9.2  Product Warranty .......................................................................................................... 199 
9.3  Disclaimer...................................................................................................................... 199 

10  Certifications ........................................................................................................................ 200 

1.1  Declaration of Incorporation ........................................................................................... 206 

 
 

 

  
 

Summary of Contents for VGC10

Page 1: ...USER MANUAL FOR UR ROBOTS ORIGINAL INSTRUCTION EN v1 05...

Page 2: ...1 Overview 12 4 2 Mounting 12 4 2 1 Quick Changer options 13 4 2 2 Tools 15 4 3 Wiring 21 4 3 1 Tool data cable 22 4 3 2 Ethernet cable 23 4 3 3 Power supply 24 4 4 Software setup 25 4 4 1 Install UR...

Page 3: ...7 2 Mechanical Drawings 179 7 2 1 Adapter plate s 179 7 2 2 Mountings 179 7 2 3 Tools 184 7 3 Center of Gravity 194 8 Maintenance 196 9 Warranties 199 9 1 Patents 199 9 2 Product Warranty 199 9 3 Disc...

Page 4: ...koGripper v2 RG2 v2 RG2 FT v2 RG6 v2 VG10 v2 VGC10 v1 Sensors Version HEX E QC v3 HEX H QC v3 Where applicable the combination of the products is also coveredin the manual NOTE Generally the products...

Page 5: ...his is an instruction relevantforthe RG2 product only RG2 FT This is an instruction relevantforthe RG2 FT productonly VG10 This is an instruction relevantforthe VG10 product All textwithoutthese visua...

Page 6: ...tionof the integrator Collecting all documentationin a technical file including the risk assessmentandthismanual 2 1 IntendedUse OnRobottools are intendedto be usedon collaborative robotsand light ind...

Page 7: ...set forth in the standards and regulationsof the countrywhere the robotis installed Anysafetyinformationprovidedinthismanual mustnotbe construedas a warranty by OnRobot A S that the robot application...

Page 8: ...e movement OnRobot A S have identified the potential hazards listed below as significant hazards that must be consideredbythe integrator Objectsflyingfrom OnRobottools due to loss of grip Objectsfalli...

Page 9: ...cture below the safetycontrolsystemstopsmotion of the twoarms of the product Motionis then preventedaslong as one or both of the two buttonsare activated If this happenswhile runningthe robot program...

Page 10: ...l be dropped due to the loss of gripper power If Dual Quick Changer is usedit will cycle the powerforbothsides NOTE If the robot program is started and one of the safety switches has been previouslypr...

Page 11: ...equiresdifferentstepsorscreensitis highlightedand referredas CB3 series e Series There are twowayshow the product s couldbe usedon bothUR series Modesof Operation via Compute Box workswithall products...

Page 12: ...stepswill be required Mountthe components Wire the cables Setupthe software In the followingsections these installation stepswill be described 4 2 Mounting Requiredsteps Mountthe Quick Changeroption M...

Page 13: ...Quick Changer ISO9409 1 50 4 M6 3 Dowelpin 6x10 ISO2338 h8 4 Adapter Robot tool flange ISO 9409 1 50 4 M6 Use 10 Nmtightening torque Dual Quick Changer Dual Quick Changer 1 M6x20mm ISO14580 8 8 2 Dua...

Page 14: ...C 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 Nmti...

Page 15: ...tongue will keepthe lower part locked once mounted Step2 Flip the tool until it is fully mated and youhear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repe...

Page 16: ...you heara clicking sound To unmountthe tool pressthe aluminumbutton on the Quick Changerand repeatthe stepsin the reverse order To change the relative angle of the gripper to the Quick Changer first...

Page 17: ...nd you heara clicking sound To unmountthe tool pressthe aluminumbutton on the Quick Changerand repeatthe stepsin the reverse order To change the relative angle of the gripper to the Quick Changer firs...

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

Page 19: ...nd To unmount the tool press the aluminum buttonon the Quick Changerand repeatthe stepsin the reverse order VGC10 Step1 Move the tool close to the Quick Changeras illustrated The hook mechanism rod an...

Page 20: ...anger as illustrated The hook mechanism rod and hook tongue will keep the lower part locked once mounted Step2 Flip the tool until it is fully mated and you heara clicking sound To unmountthe tool pre...

Page 21: ...NOTE VG10 VGC10 can only be attached when the UR controller is started not in IDLE mode and no program is running or completelypoweredoff CAUTION Dual Quick Changercannot be connectedto the Tool Conn...

Page 22: ...e to the tool For Single or Dual RG2 RG6 VG10 VGC10 or GeckoGripper Use the M8 8pin connector on the Quick Changer or on the Dual Quick Changer Use the cable holderas illustrated on the left CAUTION M...

Page 23: ...Finally connectthe otherend of the Tool data cable to the Compute Box sDEVICESconnector CAUTION Use only original OnRobot tool data cables Do not cut or extendthese cables CAUTION Quick Changer and Du...

Page 24: ...anic connectionbetweenthe two 4 3 3 Power supply Connect the supplied power supply to the Compute Box 24V connector NOTE To disconnect the power connector make sure to pull the connectorhousing wheret...

Page 25: ...be CB3 1 1 Insertthe OnRobotUSBdrive in the USB slot on the right side of the Teach Pendant 2 Selectthe Setup Robot option fromthe main menu thenthe URCaps option 3 Tap on the sign to browse for the O...

Page 26: ...version is 5 4 Please remove all previous OnRobotURCapversion s before the installation 1 Insertthe OnRobotUSBdrive in the USB slot on the top right side of the Teach Pendant 2 Then tap on the menu t...

Page 27: ...enwait forthe systemtobe restarted 5 Initialize the robot NOTE For more information on the URCap installation please refer to UR documentation 4 4 2 Uninstall software UR CB3 1 Selectthe Setup Robot o...

Page 28: ...Installation 28 5 Initialize the robot...

Page 29: ...e screen then from the System section tap on the URCaps menu 2 Selectthe OnRobotURCapfile 3 Tap on the sign 4 Then the system needs to be restarted for the changes to take effect Tap on the Restart bu...

Page 30: ...Installation 30 4 4 3 URCap setup For the e SeriesURrobots tapon the Installation tab in the topmenu Thentap on the URCaps...

Page 31: ...Installation 31 For the CB3 UR robots select the Installation tab then select OnRobot Setup The following screen is shown...

Page 32: ...on to findnewavailable devices NOTE Touse the newlydiscovereddevicesyoumightneedtorestartPolyScope To do that simply press the Restart now button Remember to save it before if there are any unsaved ch...

Page 33: ...o check if the change was successful To communicate through the tool connector on an e Series UR robot please set the following configuration 1 Pressthe General dropdownmenuonthe leftside 2 Pressthe T...

Page 34: ...rvice program is running every 2 seconds In addition to that the Tool IO is setto be logic high and low randomly CAUTION After any error message is shown that is related to the connection to our devic...

Page 35: ...This displays informationabout the errorsif there is any Device name The Serial number Systemhealth and Firmware versionare shown Update this will update the firmware if an update is available Dependi...

Page 36: ...screenwill show Overwrite values Automatic overwrite of the robot TCP configuration whenchecked the UR sTCP configuration is automatically overwritten DynamicTCP mode Whenunchecked the TCPisleftuncha...

Page 37: ...iding could be startedby pressingthe enable buttonandstoppedbypressingthe enable buttonagain Timeout Afterthe set timeoutvalue the hand guiding will be stoppedautomatically The default value is 0 that...

Page 38: ...on is automatically overwritten DynamicTCP mode Whenunchecked the TCPisleftunchanged Static TCP mode For furtherinformationand bestpracticeson the TCP settingsee TCP Configuration section TCP offset S...

Page 39: ...ttonagain Timeout Afterthe set timeoutvalue the hand guiding will be stoppedautomatically The default value is 0 thatsetsthe timeoutto infinite Mounting In the normal view of the panel the selectedmou...

Page 40: ...normal view of the panel the set values are shown To change the values press on and the following screenwill show Calibrated value shows the value to use for the application This value is calculated...

Page 41: ...gripper will close and make a measurement to set the right offset Wait until the gripper is closed 5 Once the gripper is openedthe measurementisready 6 Tap on Yesto save the newoffsetandthe setupis f...

Page 42: ...on is automatically overwritten DynamicTCP mode Whenunchecked the TCPisleftunchanged Static TCP mode For furtherinformationand bestpracticeson the TCP settingsee TCP Configuration section TCP offset S...

Page 43: ...re shownin the image below TCP In the normal view of the panel the TCP of the robot can be overwrittenbythe TCP of the tool by pressingthe Automatic overwrite of the robot TCP configuration checkbox T...

Page 44: ...he Linear offset X Y Z andthe Rotation in RPY Roll Pitch Yaw valuestoadjustthe OnRobot device dependentcalculatedTCP Mounting In the normal view of the panel the selectedmountingangle is shown To sett...

Page 45: ...e Quick Changer is orientated with the part 1 on the left side and the part 2 on the right side The numbers are written on the side of the Quick Changerthat connectsto the robot 2 Select the angle of...

Page 46: ...cify the distance from the inside of the gripper s aluminum fingertip to the reference pointonthe attachedfingertip The Fingertipoffsetforthe StandardFingertipsis4 6 mm whenplacedin the innerside and...

Page 47: ...screenwill show Overwrite values Automatic overwrite of the robot TCP configuration whenchecked the UR sTCP configuration is automatically overwritten DynamicTCP mode Whenunchecked the TCPisleftunchan...

Page 48: ...f the panel the selected attachmenttypessuchas Standard Pipe Cup Adaptor Cups Adaptor Pipe Cup and For customizationare mentioned Thisconfigurationpanelis usedto set the TCP in the right position as w...

Page 49: ...CP at the centerof the endside of the cups considering also the adaptor height see table below Adaptor Pipe Cup Device with the adaptor with the extension pipe in the middle with a cup This selectionw...

Page 50: ...Installation 50 The table belowprovidesan overviewof the different attachmentcombinations the TCPvaluesthat will be set in the robot and an image with a visual representationof the TCPlocation...

Page 51: ...hment TCP x y z mm Image Standard 0 0 100 Pipe Cup 17 17 150 Adaptor Cups 0 0 110 Adaptor Pipe Cup 0 0 160 For customization 0 0 75 The TCP valueshave their origin in the top part of the gripperas sho...

Page 52: ...reenwill show Overwrite values Automatic overwrite of the robot TCP configuration whenchecked the UR sTCP configuration is automatically overwritten DynamicTCP mode Whenunchecked the TCPisleftunchange...

Page 53: ...o the installation stepsin the previoussection The OnRobotdevicescan be operatedin 3 differentways URCap Commands provide aneasy wayto program an application UR Toolbar makesit simple to operate the t...

Page 54: ...the robot to grip a part by applying the specifiedpreloadforce and movingat the specifiedspeed To grip a part with the Gecko Gripper first the pads are pulled out and then the robot is moved down wit...

Page 55: ...cannot exertforcesabove 50N Robot Speed Specifythe robot s downwardspeedduringthe pick motion Valuesbetween0 and 300 mm s Pad Control pressto move the Geckopadsin pressto move the Geckopadsout Payload...

Page 56: ...56 GeckoGripper Release The Gecko Gripper Release commandcontrols the GeckoGripper and the robot to release the part at a specificwaypoint Pad Control pressto move the Geckopadsin pressto move the Gec...

Page 57: ...obot device dependentcalculatedTCP Payload ModifyTool payload If enabledthe UR spayload will be overwritten Mass enter the workpiece mass that is attached to the device The device own mass is added au...

Page 58: ...F T Zero command at the beginningof the F T Control command andmake sure the tool is not in contact with any object before starting the F T Control otherwise the commandmaynot workproperly Compliant...

Page 59: ...advanced optionsIf checkedthenmore optionsbecome available I gainF The force controllercanbe tunedwiththisintegralgain parameter If anyovershootsorvibrations occur try loweringthe gain value I gain T...

Page 60: ...r values Increasing this parameter has the following effects less overreaction stability increase If the force control is too slow that is the tool occasionally leaves the surface instead of continual...

Page 61: ...canbe addedin the same way To remove awaypoint use the Structure tab Delete button Alternatively F T Waypoint or F T Path could be addedas a child node of the F T Move command by usingthe Structure ta...

Page 62: ...ncan be set If the Use absolute values optionisenabled thenitisnotimportantwhetherthe enteredvalueispositive or negative e g Fz 3 otherwise the sign defineshow the thresholdis calculated e g Fz 3 or F...

Page 63: ...electit to record a newpath If there is a recordedPaththat is not saved there is an Unsaveditemin the List NOTE Only one unsavedPath can exist and it will be overwrittenby starting a Path recordingwhi...

Page 64: ...nificant deviationfromthe recordedtrajectory NOTE Rotational movements related to translational movements in Path recordingare limitedto2 8 degrees mmorless since alargerratiowould cause the Robot to...

Page 65: ...erwise the commandmay not stopat the given force torque limit To operate the F T Search commandtap on the Add Waypoint button to add an F T Waypointas a child node More waypointscanbe addedin the same...

Page 66: ...tom Base Custom Tool according to the UR s reference frames The Customcoordinate systemsare calculatedfrom the basiscoordinate systemandthe givenRoll Pitchand Yaw values For the Custom Base coordinate...

Page 67: ...commandsto achieve rotationswithouttranslational movements Type The type of the waypoint Itcan be setto Fixed Relative orVariable Target TCP pose The position representedbythe waypointin the robotrout...

Page 68: ...e waypoint in the robot route A variable can define the target pose The variable needsto be createdfirst Relative X Y Z RX RY RZ the distances and rotations this waypoint represents compared to the pr...

Page 69: ...robot will stop once one of the setlimits is reached The force limiting can be mixedwith an externalI Osignal e g stop if Fz 5 AND digital_in 7 True NOTE To cancel any force torque offset execute an F...

Page 70: ...D T3D available optionsmore than one can be set In this case if any of those values reached the set threshold the stop is triggered The valuesequal tozero are neglected If the Absolute optionisenabled...

Page 71: ...f is enabled then the set digital I O will also be monitored and once the condition is met along with the force torque limit the robot will be stopped e g stopif Fz 5 AND digital_in 7 True This comman...

Page 72: ...any object before starting the F T Insert Part otherwise the command may not stop at the given force torque limit Pushingforce The force targetusedfor the force control to gentlypush the part into th...

Page 73: ...and the insertion is progressingat a slowerpace it is interruptedandconsideredunsuccessful If itis set to zero this exitcriterium is neglected Compliance orLimit Fx Fy Tx Ty Tz The axisselectionthatne...

Page 74: ...obot device dependentcalculatedTCP Payload ModifyTool payload If enabledthe UR spayload will be overwritten Mass enter the workpiece mass that is attached to the device The device own mass is added au...

Page 75: ...W Width and F Force and if selected Depth compensation ON and or Automatic centering ON The different functionsare explainedbelow NOTE To cancel any force torque offset execute an F T Zero command at...

Page 76: ...essed the followinggraphical illustration will appearin a new page Current width The numbershowsthe Current widthvalue will setthe Currentwidthastargetwidth If usedwhenagraspisdetected see imagebelow...

Page 77: ...TCP checkbox is checkedthe TCP will be set at the furtherend of the part It requiresthe followingtwo parameterstobe given Part length L the distance betweenthe centerpointof the fingertipsensorsandth...

Page 78: ...stop Highermassand bigger distance can be vibrating more easily Timeout The maximal allowedtime forthe whole insertionfunction If it is setto zero this exitcriterium is neglected Expectedspeed The mi...

Page 79: ...the return value of the command See returnvaluesin the ReturnValues section F T Control Applications suchas polishing deburring sanding or grinding may require holding constantforce torque to a define...

Page 80: ...mcoordinate systemsare calculatedfrom the basiscoordinate systemandthe givenRoll Pitchand Yaw values For the Custom Base coordinate system it is also possible to use the Get TCP orientation buttonto s...

Page 81: ...comparedtothe valuessetbythe F T Control command andappliescorrection basedon this error P gain F and P gain T The proportional term produces a correction that is proportional to the current errorval...

Page 82: ...bove 1 If the force control is reacting to changes too slowly that is it keeps pushing the surface hard after touching it try decreasingthe I Gain As a rule of thumb it is recommendedtouse values P Ga...

Page 83: ...canbe addedin the same way To remove awaypoint use the Structure tab Delete button Alternatively F T Waypoint or F T Path could be addedas a child node of the F T Move command by usingthe Structure ta...

Page 84: ...ncan be set If the Use absolute values optionisenabled thenitisnotimportantwhetherthe enteredvalueispositive or negative e g Fz 3 otherwise the sign defineshow the thresholdis calculated e g Fz 3 or F...

Page 85: ...electit to record a newpath If there is a recordedPaththat is not saved there is an Unsaveditemin the List NOTE Only one unsavedPath can exist and it will be overwrittenby starting a Path recordingwhi...

Page 86: ...nificant deviationfromthe recordedtrajectory NOTE Rotational movements related to translational movements in Path recordingare limitedto2 8 degrees mmorless since alargerratiowould cause the Robot to...

Page 87: ...erwise the commandmay not stopat the given force torque limit To operate the F T Search commandtap on the Add Waypoint button to add an F T Waypointas a child node More waypointscanbe addedin the same...

Page 88: ...tom Base Custom Tool according to the UR s reference frames The Customcoordinate systemsare calculatedfrom the basiscoordinate systemandthe givenRoll Pitchand Yaw values For the Custom Base coordinate...

Page 89: ...commandsto achieve rotationswithouttranslational movements Type The type of the waypoint Itcan be setto Fixed Relative orVariable Target TCP pose The position representedbythe waypointin the robotrout...

Page 90: ...e waypoint in the robot route A variable can define the target pose The variable needsto be createdfirst Relative X Y Z RX RY RZ the distances and rotations this waypoint represents compared to the pr...

Page 91: ...Operation 91 F T Zero The F T Zero commandcan be usedtozero the force torque values This commandhas no returnvalue...

Page 92: ...obot device dependentcalculatedTCP Payload ModifyTool payload If enabledthe UR spayload will be overwritten Mass enter the workpiece mass that is attached to the device The device own mass is added au...

Page 93: ...ctwhich one of the twogrippersperformsthe action Target Width The target gripping width can be set by using the Save as Target Save Graspbutton recommended orbytypingit in manually Whenpressed the gri...

Page 94: ...e will setthe Currentwidthastargetwidth If usedwhenagraspisdetected see image below this will setthe target widthas current width 3 mm if the workpiece is grabbedexternallyand 3 mm if the workpiece is...

Page 95: ...obot device dependentcalculatedTCP Payload ModifyTool payload If enabledthe UR spayload will be overwritten Mass enter the workpiece mass that is attached to the device The device own mass is added au...

Page 96: ...um The higher the vacuumis set upto 80 kPa the more the lifting poweris Payload mass the workpiece weight can be entered The URCap software will then perform the calculation of the resultingpayload ma...

Page 97: ...taHEX E HQCbutusedonanE seriescontrollerthe following extraoption becomesavailable Seek whenchecked the same seekingaction will happenas above Since the auto leveling part is not usedthe VG grippers n...

Page 98: ...rogram the commandname will show 1 or 2 to indicate which grippersis performingthe action Channel s Selectwhich channel performthe action It is possible to select channelA B or both To see which one i...

Page 99: ...obot device dependentcalculatedTCP Payload ModifyTool payload If enabledthe UR spayload will be overwritten Mass enter the workpiece mass that is attached to the device The device own mass is added au...

Page 100: ...e toolbar in the e Series press on the UR icon on the top right side Then press on the OnRoboticon Each OnRobotEnd of ArmTooling hasits ownfunctionalityand that is explainedinthe sectionsbelow To open...

Page 101: ...Operation 101 To enable disable the toolbar press on the OnRobot logo on the top right corner and check uncheckthe Enable toolbarcheckbox...

Page 102: ...Operation 102 The table belowshowsthe page where the toolbar foreach OnRobotdevice is explained Gecko 103 HEX E H QC 104 RG2 FT 106 RG2 RG6 109 VG10 VGC10 110...

Page 103: ...sin the How to access the toolbar section The toolbar for the Geckois shownbelow pressto get the Geckopadsin pressto getthe Geckopadsout This buttononly appearsif the padsare wornand needstobe replace...

Page 104: ...possible to lock some of the axesto reduce the degreesof freedom The toolbar contains the available axes the enable button the zero button and the snap to axesbutton To selectan axis tap on the approp...

Page 105: ...button while touching the tool To stop handguiding the UR Robot pressthe enable button NOTE The handguiding could be configured inthe OnRobotinstallation page to be enabledwitha single tap on the enab...

Page 106: ...selectwhich one performsthe action Current width showsthe value Force Setthe target gripping force These are openandclose hold to runbuttons This button can be usedto reactivate the RG2 or RG6 after...

Page 107: ...he Xandthe Y itemsare selectedtolimit the movementalongthe Xand Y axis planar NOTE The used coordinate systemis the Tool To deactivate any axisthat has beenselected taponthe item again NOTE It is poss...

Page 108: ...ed inthe OnRobotinstallation page to be enabledwitha single tap on the enable button instead of holding and stopped with a second tap However the holding behavioris recommendedforincreasedsafety NOTE...

Page 109: ...rrent width showsthe value Force Setthe target gripping force These are openandclose hold to runbuttons This button can be usedto reactivate the RG2 or RG6 after any of the gripper s SafetySwitch is a...

Page 110: ...rmsthe action Mode SelectIndependent actuate achannel individually or Tandem actuate both channelstogether Actual vacuum showsthe current vacuumin each channel Target vacuum definestargetvacuumin each...

Page 111: ...ript function rg_grip rg_width force tool_index 0 blocking True depth_compensation False popupmsg True Blocking True the functionwaits for the gripperto finish the grip command popupmsg future functio...

Page 112: ...canbe used E g 0 6 600 ms If not set this parameterdefaultsto5 seconds alert Whetherthe grip shouldbe monitoredaftervacuum grip is established If vacuum is lost while handling a workpiece a popup warn...

Page 113: ...econdary vg10_idle channel tool_index Commands the VG10 to idle the selected channel When a channel is in idle the power consumption is slightly lower but parts may stick to the suction cup as the air...

Page 114: ...Static TCP mode Recommendedtobe used Dynamic TCP mode The mode couldbe selectedonthe TCPpanelinthe OnRobotInstallation see inthe URCap setupsection In the followingthese twomodeswill be described Stat...

Page 115: ...sinthe UR sMove commandinawaythat the referencingTCP is setfirst So if only a single OnRobot device is used before the Waypoints are defined set the UR s Move command sTCP to use the OnRobot_Single If...

Page 116: ...stedimmediately However the Active TCPisoverwrittendirectly thereis alsoanOnRobot definedTCP thatis called OnRobot_Default This is the name in both the Single and Dual device case It is recommended to...

Page 117: ...hing As summaryhere is a code example Single Dual Recommendedtoset OnRobot_DefaultTCPasthe UR s DefaultTCP Recommendedtoset OnRobot_DefaultTCPasthe UR s DefaultTCP Before eachprogramexecutionmake sure...

Page 118: ...or torque greaterthan the setlimit was detected 1 The search endedwithoutdetectingaforce or torque greaterthan the setlimit 3 The search wasinterruptedbya command 11 The search cannot start because t...

Page 119: ...The return value for the OnRobotcommands HEX E H QC FeedbackVariable Unit Description on_return The return value for the OnRobotcommands F3D N Lengthof the 3D force vector F3D sqrt Fx2 Fy2 Fz2 FT_Base...

Page 120: ...xNm list of Fx Fy Fz Tx Ty Tz forthe right fingersensor FT_Tool 3xN 3xNm Force and torque valuescalculated in the Tool Coordinate system inan array Part_Width mm The actual value of the detectedpartwi...

Page 121: ...er at 0 mmwidth rg_DepthRel mm Distance the robot due to depthcompensation has movedtowardsthe z axeshavingas reference the previousgripper swidth rg_Grip_detected True False True if Gripperhasdetecte...

Page 122: ...outputthatcouldbe used These inputsandoutputscanbe programmed through the OnRobot WebLogic that requires the Ethernet interface to be used only for programmingtime 6 1 2 Web Client To accessthe WebCli...

Page 123: ...entered passwordmustbe atleast 8 characterslong Once signedin the followingtop menusappear Devices Monitorand control the connecteddevices e g grippers Configuration Change the Compute Box ssettings W...

Page 124: ...ings e g change password addnew user Selectthe language of the WebClient In the following these menuswill be described Devicesmenu To control monitora device click onthe Selectbutton Gecko 125 HEX E H...

Page 125: ...om the bottomof the gripper The state of the gripper could be Pad position Padsare eitherIn or Out out meansreadyforgripping Part detected the set preloadforce limit is reached and objectdistance is 1...

Page 126: ...are restoredtothe defaultvalue 90N on powerreset If a part was detectedandthe objectdistance becomes 18mm part is lost BEFORE the pads are setto be IN normalrelease the Pads worn warningis displayedi...

Page 127: ...QC The force andtorque values Fx Fy FzandTx Ty Tz are shownin N Nm The Zero toggle switchcan be usedto zerothe force andtorque reading NOTE Zerovalue seton thispage is not storedpermanentlyandare res...

Page 128: ...orce limit is reachedbutthe set widthis not The status of the twosafetyswitchshows Pushed the safetyswitch1 2 is still beingpushed Triggered the safetyswitch1 2 has beenactivatedand gripperis stopped...

Page 129: ...he currentfingertipsattachedtothe gripper Offsetismeasured fromthe innermating face of the bar metal fingertips Tosave the value to the gripperpermanentlyclick Save The grippercan be controlled byadju...

Page 130: ...torque values Fx Fy Fz and Tx Ty Tz are shownin N Nm along with the Proximity sensor values opticaldistance sensorbuiltin the fingertip are show inmmforthe leftandright fingertipsensor The Zero toggle...

Page 131: ...paper betweenthe fingertips Readthe actual Left and Right Proximityvalues e g 19mm and 25mm Write these values to the Left and Right edit boxes and click on the Save button to store it permanently Op...

Page 132: ...manently and always restoredtothe defaultvalue onpowerreset Higher powerlimit value meansthe requiredvacuumlevelisreachedfaster higherairflow butif it is set too fastovershootmayoccur Low powerlimit m...

Page 133: ...te Box expectsanIPaddress fromaDHCPserver 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 after60 secondsof timeout If it is sett...

Page 134: ...dtheCompute Boxneedstobe theScannerthefollowingaddition informationis requiredforthe communication IP address to connect to the robot IPaddress Origin to targetinstance id referto the robot s EtherNet...

Page 135: ...Import and browse forthe file The available Pathsare listedat the endof the page Anypathscanbe exportedanddownloadedasa ofp file or permanentlydeletedtofree upthe list if a path is notneededanymore NO...

Page 136: ...ftware update byclicking on the Browse buttonto browse forthe cbu software update file Thenthe Browse buttonwill turn to Update Click on thatUpdate buttonto start the software update process CAUTION D...

Page 137: ...nyof the components is outof date To start the firmware update click on UPDATE buttonin the firmware sectionof the page CAUTION During the update process takes about 5 10 minutes DO NOT unplug any dev...

Page 138: ...user Goto Account settings Sign out Account settings This page hastwo tabs My profile to see and update the currentlyloggedin usersprofile e g change password Users to manage users e g add remove edi...

Page 139: ...39 On the Userstab click on the Add new userbuttonto add more users There are three userlevels Administrator Operator User Fill in the userinformationand click Save Later on to change anyuser informat...

Page 140: ...Additional Software Options 140 To preventa userto sign ineithercould be deactivatedbychanging its Active statusin the editmode or removedbyclicking the delete icon...

Page 141: ...1 7 Hardware Specification 7 1 Technical sheets Gecko 142 HEX E QC 145 HEX H QC 147 Quick Changer 149 Quick Changer for I O 149 Dual Quick Changer 149 Quick Changer Tool side 149 RG2 FT 151 RG2 156 RG...

Page 142: ...140 N Detachmenttime 300 msec Holds workpiece onpowerloss yes Pads Change outinterval 150 000 to 200 000 cycles for HIGHpreload 200 000 to 250 000 cycles for LOW preload cycles Manual Cleaning Isopro...

Page 143: ...rigid and flexible substrates surface finish payloadand the requiredpreloadto pick upsaid substrate Forexample if the customer knows that their part substrate is rigid with a mirror like finish and we...

Page 144: ...pick up the material the grippercan pick up the material in some cases requirescautionand testingto verify Nothingthe grippercannot pick up this type of material NOTE This table is to be utilized as...

Page 145: ...nal Capacity N C 200 200 10 6 5 N Nm Single axis deformationatN 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 146: ...46 The sensorcannot be operatedoutside of the Normal OperatingArea 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 OperatingA...

Page 147: ...ominal Capacity N C 200 200 20 13 N Nm Single axis deformationatN 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 148: ...on 148 The sensorcannot be operatedoutside of the Normal OperatingArea 0 3 25 6 5 9 75 13 0 50 100 150 200 Tz Nm Fxyz Tz Fxyz Normal OperatingArea 0 5 10 15 20 0 50 100 150 200 Txy Nm Fxyz N Txy Fxyz...

Page 149: ...kg lbs Repeatability 0 02 mm IP Classification 64 Operatinglife Tool change 5 000 cycles Operatinglife Robotoperation 10 Mcycles See loadcapacity graph below Quick Changer Quick Changer for I O Dual Q...

Page 150: ...emperature compensation 2 General Properties Min Typical Max Units PayloadForce Fit 2 4 4 kg lb PayloadForm Fit 4 8 8 Kg lb Total stroke adjustable 0 0 100 3 93 mm inch Fingerposition resolution 0 1 0...

Page 151: ...ce type and color Proximitysensor 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 Alum...

Page 152: ...Hardware Specification 152 RG2 FT GrippingSpeedGraph GripperWorkingRange The dimensionsare in millimeters...

Page 153: ...Specification 153 Fingertips The standardfingertipscanbe usedformanydifferentworkpieces If customfingertipsare required they can be made to fit the Gripperfingers Dimensionsof the Gripper sfinger inmi...

Page 154: ...has directional laser sources Direct high temperature Mechanical contacts in any case Expose toany liquid or fine conductive dust NOTE Please clean regularly the proximity sensor surface with low pres...

Page 155: ...004 mm inch Repetitionaccuracy 0 1 0 004 0 2 0 007 mm inch Reversingbacklash 0 1 0 004 0 3 0 011 mm inch Grippingforce adjustable 3 40 N Grippingforce deviation 25 Grippingspeed 38 127 mm s Grippingt...

Page 156: ...Hardware Specification 156 RG2 GrippingSpeedGraph RG2 Work Range...

Page 157: ...ght calculatedfromthe endof the fingertips isdependentonthegrippingwidth w Forvariouswidthvalues the height h limit is given below Fingertips The standardfingertipscanbe usedformanydifferentworkpieces...

Page 158: ...0 004 mm inch Repetitionaccuracy 0 1 0 004 0 2 0 007 mm inch Reversingbacklash 0 1 0 004 0 3 0 011 mm inch Grippingforce adjustable 25 120 N Grippingforce deviation 25 Grippingspeed 51 160 mm s Grippi...

Page 159: ...Hardware Specification 159 RG6 GrippingSpeedGraph RG6 Work Range...

Page 160: ...ight calculatedfromthe endof the fingertips isdependentonthegrippingwidth w Forvariouswidthvalues the height h limit is givenbelow Fingertips The standardfingertipscanbe usedformanydifferentworkpieces...

Page 161: ...that the arms do not move whenhandling15 kg payloads The VG10 suction cups are groupedinto twoindependentchannels General Properties Minimum Typical Maximum Unit Vacuum 5 0 05 1 5 80 0 810 24 Vacuum...

Page 162: ...ependsprimarily onthe followingparameters Vacuumcups Vacuum Air flow Vacuum Cups Choosingthe right vacuum cups for yourapplication is essential The VG gripperscome withcommon 15 30 and 40 mm silicone...

Page 163: ...stcommon non porousmaterialsare listed below Composites Glass High densitycardboard High densitypaper Metals Plastic Porousmaterials with a sealedsurface Varnishedwood In anideal case working withnon...

Page 164: ...kage airflow isexpected and the more air is movedin a grip resultingin longergripping times When using porous materials the vacuum that can be achieve by using the OnRobot suction cups will dependonth...

Page 165: ...to consult a vacuum cup specialist to find the optimal vacuumcup where the standardtypesare insufficient Fittingsand Blind Screws It is possible to change suctioncups simply bypulling themoff the fitt...

Page 166: ...Leakingworkpieces The smallest leak undera vacuumcup can be hard to find see picture below Leakingworkpiecescanbe evenharderto identify Thingsthatlook completelytightmight notbe tight at all A typical...

Page 167: ...boardbox is sufficientlytightissimply to testit using the VG grippers A high vacuum percentage setting does not give a higher lifting capacity on corrugated cardboard In fact a lower setting is recomm...

Page 168: ...Vacuum Bar inHg Air flow 0 12 L min Payload With defaultattachments 6 13 2 kg lb With customizedattachments 10 22 15 33 1 kg lb Vacuumcups 1 7 pcs Grippingtime 0 35 s Releasingtime 0 20 s Vacuumpump...

Page 169: ...B independentlyforvacuum The AdaptorPlate can be placedin differentpositionsbyrotatingit 90 Having as reference the lettersA and B written on the gripper housing the Adaptor Plate can be placed to sep...

Page 170: ...andtightenthe 4screws with 4 Nmtightentorque NOTE Please note thatthe O Ringinthe AdaptorPlate isnot gluedtherefore it can be pulledout If that happenssimplyput it back in place and the gripper will w...

Page 171: ...mage below Belowdifferentmountingconfigurationswiththe providedattachmentsare shown CustomizedAdaptor Platesand Push inFittings The design of the VGC10 is meant to facilitate the users to make their o...

Page 172: ...t requiredremote vacuum In mostcases this size is enoughfor generatingthe neededvacuumfromthe pumpin the gripper The commercial name of the Push in Fittings is Fitting QSM G1 8 4 I R in case some more...

Page 173: ...ingthe right vacuum cups for yourapplication is essential The VG gripperscome withcommon 15 30 and 40 mm silicone vacuum cups see table below whichare good for hard and flat surfaces but not good for...

Page 174: ...ble below shows the number of cups and the cup size needed depending on the payload workpiece mass andthe vacuumused Numberof Cups neededfornon porousmaterials dependingonpayload and vacuum NOTE 15mm...

Page 175: ...ng the OnRobot suction cups will dependonthe materialitself andwillbe betweenthe range statedinthe specifications Someof the most commonnon porousmaterialsare listedbelow Fabrics Foam Foam withopencel...

Page 176: ...of the sidesand thenpull it out Unused holes can be blinded using a blind screw and each fitting can be changed to a different type to match the desired suction cup The fittings and the blinding scre...

Page 177: ...Leakingworkpieces The smallest leak undera vacuumcup can be hard to find see picture below Leakingworkpiecescanbe evenharderto identify Thingsthatlook completelytightmight notbe tight at all A typical...

Page 178: ...boardbox is sufficientlytightissimply to testit using the VG grippers A high vacuum percentage setting does not give a higher lifting capacity on corrugated cardboard In fact a lower setting is recomm...

Page 179: ...ecification 179 7 2 Mechanical Drawings 7 2 1 Adapter plate s No adapterplatesare required 7 2 2 Mountings Quick Changer Robot side 180 Quick Changer for I O Robot side 181 Dual Quick Changer 182 HEX...

Page 180: ...Hardware Specification 180 Quick Changer Robot side Distance from Robotflange interface to OnRobottool All dimensionsare in mm and inches...

Page 181: ...Hardware Specification 181 Quick Changer for I O Robot side Distance from Robotflange interface to OnRobottool All dimensionsare in mm and inches...

Page 182: ...Hardware Specification 182 Dual Quick Changer Distance from Robotflange interface to OnRobottool All dimensionsare in mm and inches...

Page 183: ...Hardware Specification 183 HEX E H QC Distance from Robotflange interface to OnRobottool All dimensionsare in mm and inches...

Page 184: ...Hardware Specification 184 7 2 3 Tools Gecko 185 RG2 FT 186 RG2 187 RG6 188 VG10 189 VGC10 191 Quick Changer Tool side 193...

Page 185: ...Hardware Specification 185 Gecko All dimensionsare in mm and inches...

Page 186: ...Hardware Specification 186 RG2 FT All dimensionsare in mm and inches...

Page 187: ...Hardware Specification 187 RG2 All dimensionsare in mm and inches...

Page 188: ...Hardware Specification 188 RG6 All dimensionsare in mm and inches...

Page 189: ...Hardware Specification 189 VG10 All dimensionsare in mm and inches...

Page 190: ...Hardware Specification 190 All dimensionsare in mm and inches...

Page 191: ...Hardware Specification 191 VGC10 All dimensionsare in mm and inches...

Page 192: ...Hardware Specification 192 All dimensionsare in mm and inches...

Page 193: ...Hardware Specification 193 Quick Changer Tool side All dimensionsare in mm and inches...

Page 194: ...ight X 0 Y 0 Z 50 cX 0 cY 5 cZ 20 0 35 kg 0 77 lb Gecko Coordinate system TCP mm Centerof Gravity mm Weight X 0 Y 0 Z 187 cX 0 cY 0 cZ 113 2 83 kg 6 10 lb RG2 FT Coordinate system TCP mm Centerof Grav...

Page 195: ...50 cX 0 cY 0 cZ 90 1 25 kg 2 76 lb Mountedat0 VG10 Coordinate system TCP mm Centerof Gravity mm Weight X 0 Y 0 Z 105 cX 15 cY 0 cZ 54 1 62 kg 3 57 lb With arms foldedback VGC10 Coordinate system TCP m...

Page 196: ...tsmaydamage the pad surface and impair function The Gecko Gripper performance is maximized when the pads are clean and dry The pads can collect dust so it is bestto use the GeckoGripperin a clean envi...

Page 197: ...dull backing plate Leverage the pad removaltool against the gripper housingto pry off the usedpad Repeat for all pads Step3 To install new replacement pads align the notch of the pad with the tab in...

Page 198: ...ed However particles can eventuallygetstuck andbuild upinside the filter loweringthe VG grippers performance A filter service kit is available which include bothnew filtersand tools needed Filter serv...

Page 199: ...under the 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...

Page 200: ...Certifications 200 10 Certifications...

Page 201: ...Certifications 201...

Page 202: ...Certifications 202...

Page 203: ...Certifications 203...

Page 204: ...Certifications 204...

Page 205: ...Certifications 205...

Page 206: ...essentialrequirementsof Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B...

Page 207: ...ementsof Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available...

Page 208: ...mentsof Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available i...

Page 209: ...sof Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available in el...

Page 210: ...Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available in elect...

Page 211: ...f Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available in elec...

Page 212: ...f Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available in elec...

Page 213: ...of Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Technical documentationis compiledaccording to Directive 2006 42 EC annex VIIpart B and available in ele...

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