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16

  —  

MOUNTING AND WIRING

UNIVERSAL ROBOTS MANUAL  —  MAR 9, 2023 — RELEASE: V1.0.3

#

INSTRUCTIONS

4

Connect  the  main  cable  (C1)  to  the  RS485-USB 

converter (B).

Then 

connect the 

RS485-USB converter (B) (or the 

USB  extension  cord  (C2))  to  an  USB  type-A 

available in the UR Control Box.

•
•

Pay attention to connect wires as 

follows:

WHITE wire → A-port;
BROWN wire → B-port.

If  the  qb  SoftClaw  has  to  be  used 

through  C++  APIs  or  ROS  packages, 

then  the  USB  communication  cable 

has to be connected to the workstation 

PC.

Summary of Contents for SoftClaw

Page 1: ...PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE DO NOT DISCARD KEEP FOR FUTURE REFERENCE Universal Robots Manual...

Page 2: ...to changes without notice the latest version is available on our webpage www qbrobotics com qbrobotics s r l does not assume any responsibility for errors or omissions In no case qbrobotics s r l wil...

Page 3: ...4 Electrical characteristics 7 3 5 Tool connector pinout 8 3 6 Fingers exchange system 9 4 Description 10 4 1 General 10 4 2 Characteristics and key features 11 4 3 Standard customization 11 5 Mountin...

Page 4: ...expected 44 8 4 The USB flash drive is not working 45 8 5 The device is connected but does not move 45 8 6 URCap installation 46 8 7 URCap uninstallation 46 8 8 Error C740A0 on e Series robots 47 8 9...

Page 5: ...of the product 1 2 Symbols and conventions STYLE DESCRIPTION Identifies information about practice or circumstances that can lead to critical damages on the device and to personal injury Attentions h...

Page 6: ...ter N 1 0 3m direct wrist connection cable for compatible robots only N 1 main cable of 3m N 1 USB to RS485 converter with extension cord N 1 set of magnetic pads N 1 USB flash drive with user documen...

Page 7: ...he packaging The device can be used only by specially trained staff Disconnect the power supply before installation cleaning or maintenance operations Make sure that no residual energy remains in the...

Page 8: ...s product damages and or significant reduction to the product s life 2 5 Environmental safety The qb SoftClaw must be disposed of in accordance with the applicable national laws regulations and standa...

Page 9: ...the position of the Center of Mass of the SoftClaw and defines its Coordinate System like depicted in the following schemes UNIT LEFT CoM x coordinate OTX mm 1 CoM y coordinate OTY mm 1 CoM z coordin...

Page 10: ...s the base coordinate system of the robot On the right there is the Tool Coordinate System T OT XT YT ZT of the qbSoftClaw and the center OT coincides with the center of mass of the device and its pos...

Page 11: ...C 23 1 24 24 8 Power consumption W 3 22 Current limit A 0 90 Operational time s 300 Duty cycle 69 Operating temperature C 5 20 50 Relative humidity 5 80 Typical noise level dB 50 Starting spike curren...

Page 12: ...The main cable of the qb SoftClaw is a Phoenix contact 3m free cable end with angled socket Part Number 14041922 The RS485 protocol characteristics are as follow 8 bit no parity 1 stop bit no flow con...

Page 13: ...ace You can directly place the pad on its socket and it will be automatically constrained Figure 2 Disassembly of fingers The fingers are designed to be easy replaceable to allow customizations for sp...

Page 14: ...preamble 1 byte target slave id 1 byte payload length n byte payload 1 byte checksum for communication integrity A custom made single master multiple slave SMMS serial communication protocol is imple...

Page 15: ...Up to 3 7 kg maximum payload Maximum closure time of 1 0 s Total weight of 780 g including aluminium flange and screws Universal Robots plug and play certified ROS packages and general C API availabl...

Page 16: ...terface e g from the UR Teach Pendant To assemble the device on the robot arm please follow the following instructions INSTRUCTIONS 1 Insert 1 into the 6 mm hole on the robot wrist centering 2 on the...

Page 17: ...s This section illustrates how to wire the qb SoftClaw in order to exploit the button on the wrist flange as a trigger for a Universal Robots Digital Input This button allows to customise the behaviou...

Page 18: ...qb SoftClaw optional power supply unit kit A C3 C4 RS485 USB converter B main cable C1 USB A extention cable C2 INSTRUCTIONS 1 If you have purchased our OPTIONAL external power supply connect the powe...

Page 19: ...Universal Robot Controller I O The lower two terminals 24V and 0V in the block are the 24V input to supply the I O The default configuration uses the internal power supply Remove the jumpers of the pr...

Page 20: ...r B Then connect the RS485 USB converter B or the USB extension cord C2 to an USB type A available in the UR Control Box Pay attention to connect wires as follows WHITE wire A port BROWN wire B port I...

Page 21: ...the M8 connector when inserted into the receptacle Minimum curve radius of the cable C1 51 mm UR Control Box images refer to an e Series model However the same configuration is fine also for CB Serie...

Page 22: ...Connection kit for qb SoftClaw optional power supply unit kit A C3 C4 RS485 USB converter B main cable C1 USB A extention cable C2 For external power supplies use only 24VDC with at least 2 5A 60W an...

Page 23: ...supply unit A For this SVG the export flag is not set 3 If you have the OPTIONAL supply kit connect the power cable C3 to the power supply unit A Pay attention to connect wires as follows WHITE wire...

Page 24: ...t rotate the M8 connector when inserted into the receptacle Minimum curve radius of the cable C1 51 mm YELLOW and GREEN wires on C1 cable are optional They are used to enable the button on the qb Soft...

Page 25: ...with your current linux username Ubuntu Packages If you prefer to leave your catkin workspace as it is you can simply install all the ROS packages from the Ubuntu official repositories sudo apt updat...

Page 26: ...hing is done Nonetheless if you encounter some troubles during the compilation feel free to ask for support on our Bitbucket9 These packages may not always be updated as they are only synchronised at...

Page 27: ...reads and writes is always done in the same predefined order The second mode threats every device as an independent Hardware Interface with its dedicated ROS Node which executes the control loop inde...

Page 28: ...he devices it has found By default it never scans again for new devices apart from asking it explicitly during the initialization of a control Node This is a simple example when starting the Communica...

Page 29: ...all the control modes for a single qb SoftClaw but it is just a matter of putting things together and set the launch file parameters properly to control several devices together All the control modes...

Page 30: ...d position measurements from the device in two distinct packages max_repeats 3 The maximum number of consecutive repetitions to mark retrieved data as corrupted set_commands true Choose whether or not...

Page 31: ...the launch file needed with several devices This enables the right menu which provides all the controllers available for the connected device Select the qb SoftClaw controller from the second drop dow...

Page 32: ...ching the command from the terminal in this case device_name qbsoftclaw The following example control the qb SoftClaw to fully open and to grasp with three different force thresholds Waypoints describ...

Page 33: ...rovide any support you need To help you in the best way we can we are asking you to do the most suitable of the following steps It is the first time you are holding a qb SoftClaw or the first time you...

Page 34: ...ted to the system its serial port name is shown in the drop down menu on the left When a serial port is found the Connect button becomes available and by clicking on it you scan the serial resource to...

Page 35: ...g clear the information printed in the panel Get Info shows useful information about the qb SoftClaw in the panel It prints the current state and its settings e g firmware version parameter values mea...

Page 36: ...Depending on the control modality set it is possible to set the strength position command to motors and the stiffness of the qbmove using sliders The qb SoftClaw behaviour described in datasheet can...

Page 37: ...the device and the serial port on which it is connected Below the actual motor current and the actual SoftClaw closure state in percent value If a program is running while visiting the Installation N...

Page 38: ...e current Installation loaded When you edit a grasp value in order to use these values even after restarting the robot you have to save the Installation file These values are intended as thresholds an...

Page 39: ...4 icons By pressing one of the buttons displayed in this tab the deflection control modality is set automatically and thanks to them it is possible to set closure forces to the soft medium or strong...

Page 40: ...when position control is selected two slider are enabled one to control the position of movable arm and one to control its stiffness The position slider goes from 0 mm completely closed to 89 mm comp...

Page 41: ...If you have selected a stored grasp and change its command value through the slider or its control mode you change not only the current Program Node value but every linked grasp with the same name Thi...

Page 42: ...ies Toolbar This toolbar lets you quickly check the qb SoftClaw state and teach new grasp values The two panels displayed are almost identical to the ones described in the Installation and Program Nod...

Page 43: ...e qb SoftClaw 0 position 4 deflection void qbdevice setClawCommand this command is used to send control reference to the qb SoftClaw It works both in position and in deflection mode and the user has t...

Page 44: ...ty 30 days from the date of their return to Buyer whichever expires the later Unless otherwise restricted by mandatory applicable law the warranty set forth herein is expressly in lieu of all other wa...

Page 45: ...SOFTCLAW 41 26 mailto support qbrobotics com For any support request please contact our support team26...

Page 46: ...l does not connect to the robot system please raise a support request with at least the following details at our help desk portal The device serial number The robot system type and software version Th...

Page 47: ...the robot Make a power cycle of the qb dummy If these steps do not solve the problem i e the device still frequently disconnect from the robot system while it is operating please raise a support requ...

Page 48: ...the device pose Varying the wrist angles produce a more stable grasp even if the device seems to be located in a worst pose Try to not hardcode waypoints at least at the beginning Even if it seems a s...

Page 49: ...n i e it is in its resting configuration The user interface shows that the device is properly connected and you can see the device status card from either the installation tab or the toolbar on e Seri...

Page 50: ...s Then click on the tab System and on the sub tab URCap Insert the provided USB flash drive and click on the plus at the bottom of the page From there select the flash drive choose the file named qbro...

Page 51: ...stem 8 8 Error C740A0 on e Series robots 8 8 1 Problem It may happen that you experience the error Tool A C740A0 Hardware monitoring Critical error when using the device on e Series robots This is par...

Page 52: ...ssistance goes as quickly and as smoothly as possible 8 9 Setup button on qb SoftClaw Configure the button on the wrist flange as a trigger fot a Universal Robot Digital Input Go to Installation tab a...

Page 53: ...SOFTCLAW 49 This image refers to Universal Robots CB series robot but the same can be done for e series robots...

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