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CoboSafe CBSF-XS

325-2810-015 EN11

PREPARING FOR MEASUREMENT

8.4 Checking Force Measurement

Personnel

Personal Protective Equipment (PPE)

Materials

■

Laboratory scientist

■

System integrator

■

Robot operator

■

Certified personnel

■

PPE prescribed by robot

manufacturer

■

Soft, lint-free cloth

■

Cleaning agent

■

Reference weight

Damaged force measuring device

A damaged device may not be used for measurements and has to be replaced.

8.4.1 Testing Proper Functioning of Force Measuring Device

1

►

Clean the measuring surface on your force measuring device.

2

►

Place the CBSF-XS on a flat surface. The measuring surface should face up.

3

►

Carefully lower the reference weight onto the measuring surface and wait until

measurement begins.

If the force measured is the same as the force indicated on the reference weight, the test has

been completed successfully. If the value is not the same, the device is damaged.



The CoboSafe CBSF-XS has been tested to confirm proper functioning.

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Содержание CoboSafe CBSF-XS

Страница 1: ...g Manual GTE Industrieelektronik GmbH Helmholtzstr 21 38 40 41747 Viersen GERMANY info gte de Tel 49 2162 3703 0 www gte de 325 2810 015 EN11 EN Force Gauge CBSF XS CBSF XS Force and Pressure Measurement System ...

Страница 2: ...str 21 38 40 41747 Viersen Germany Support hotline 49 2162 3703 0 E mail cobosafe gte de 2022 GTE Industrieelektronik GmbH This document and all illustrations contained herein are protect ed by copyright and may not be copied and pasted modified or distributed without the express consent of the manufacturer Technical data is subject to change without notice ...

Страница 3: ...cribes operation of the CoboSafe CBSF XS force measuring device Please pay particular attention to the information contained in chapter 1 About this Manual Before beginning work of any kind read this manual and the general safety instruc tions Keep for later use ...

Страница 4: ...measuring device 13 7 2 Display 14 7 3 Menu Navigation 14 7 4 Setting Date and Time 16 7 5 Luminous Sequences 16 7 6 Display of Measured Values 16 7 7 Damping Element K1 and Spring Rate K2 16 8 Preparing for Measurement 18 8 1 Safety When Preparing a Measurement 19 8 2 Defining Measurement Target 19 8 3 Avoiding Damage to Device 19 8 4 Checking Force Measurement 21 8 4 1 Testing Proper Functioning...

Страница 5: ...ction Date 27 11 4 2 Calibration by a Certified Laboratory 27 11 4 3 Temperature Humidity 27 11 4 4 K1 Damping Element 27 11 4 5 Spare Parts 27 12 Properly Storing CBSF XS 28 13 Detecting and Remedying Malfunctions 29 13 1 Firmware Update 29 14 Technical Data 30 14 1 Technical Data CoboSafe CBSF XS 30 14 2 Technical Data Accessories 31 14 3 Requirements for Measurement Setup 31 14 4 Requirements f...

Страница 6: ...f the measuring system and has to be stored near the measuring system ensuring that it is readily accessible to personnel at all times Operating personnel must read the entire manual and be familiar with the product before beginning any work The fundamental requirement for working safely is consideration of all of the safety and warning notes as well as following the instructions in this and all r...

Страница 7: ...uld lead to minor injuries if not avoided NOTICE This signal word indicates a possibly dangerous situation that could lead to property damage if not avoided 1 1 2 Explanation of Symbols The following symbols are used in this manual to emphasize instructions results lists notes and other elements Symbol Explanation Introductory information relevant to safety Helpful tips and recommendations as well...

Страница 8: ...to safely perform the action described In the above example the person performing the task has to be a laboratory scientist or a system integrator For a description of the personnel qualifications refer to chapter Requirements of Personnel in the general safety instructions Z Inspect and clean CoboSafe CBSF XS Personnel Personal Protective Equipment Laboratory scientist System integrator Certified...

Страница 9: ...must also be observed 2 2 1 Intended Use CBSF XS force measuring devices are used to determine the forces that occur in collisions with collaborating robots The forces are calculated in the device based on applicable standards and publications Refer to the CoboSafe General Safety Instructions chapter Underlying Standards and Information Material The software CoboSafe Vision serves to visualize and...

Страница 10: ... display The integrated memory saves the measured values and can accommodate 100 single measure ments The transient and quasistatic values are shown on the display and can be transmitted wirelessly or via USB port to CoboSafe Vision Because the measuring tips are only 10 mm high the CBSF XS is especially well suited to gripper applications But it is also good for many other applications in which c...

Страница 11: ...nd handle included 4 Flash drive containing CoboSafe Vision 5 USB charger with power pack 6 Document case calibration certificate quick reference guide calibration sheet microfiber cloth 7 Power pack for scanner optional 8 Cable for Scanner optional 9 A5 Scanner optional 10 Charging cable 11 Fujifilm Prescale pressure measurement films 2x optional 12 Damping element K1 4 3 5 6 2 1 7 8 10 9 11 12 F...

Страница 12: ...ction date A label on the underside of the measuring device indicates when the manufacturer has to next inspect and calibrate the device The year printed on the label is the year in which the next inspection is due The month is indicated by the circle in which a month can be punched out 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 1 1 1 1 12 12 20xx 20xx 6 Informative Value of Measurement Results The...

Страница 13: ...ing 7 Design and Functioning 7 1 CoboSafe CBSF XS force measuring device Measuring tip 1 Optimal force application point 2 Display 3 Pushbutton 4 USB port 5 Light ring 6 Inspection date 7 ID plate 8 Base plate 9 3 1 2 5 6 4 7 8 9 Fig 5 Design and functioning ...

Страница 14: ...ng press CBSF XS starts up when the button is released Operating mode If the CBSF is switched on touch the button briefly to start a measurement Short press Activate next measuring in manual mode Long press Menu opens in Shutdown option switch off Long press Switch off CBSF XS Device switches off automatically after 45 min Open menu Long press Switch on CBSF XS Long press Menu opens in Shutdown op...

Страница 15: ...less transmission Off Switches off wireless transmission Cancel Cancels deleting All Data Deletes all saved measurements SVN S N WL Firmware version Serial number of CoboSafe CBSF XS Wireless ID Temp Humidity Temperature display Humidity display Bat V Bat A Battery voltage in V Battery voltage in mA Capacity Free Used Last ID Capacity of memory quantity of measurements Number of measurements still...

Страница 16: ...uous illumination Measurement completed Flashes three times Device connected Flashes three times Device disconnected 7 6 Display of Measured Values When measurement is completed the CoboSafe CBSF XS shows the measured values in the display Ft Maximum transient force 1 Fs Maximum quasistatic force 2 Current measurement number 3 7 7 Damping Element K1 and Spring Rate K2 The compression properties of...

Страница 17: ...r time The manufacturer rec ommends replacing it in the course of the calibration service after one year If the K1 damping elements are exposed to unusual conditions e g high ambient tempera tures high humidity or contact with liquids containing solvents they may need to be replaced sooner Damping Element K1 Measuring surface Spring for pressure measurement film The damping element has a metal wed...

Страница 18: ...application The additional damping element K1 is placed on the measuring surface when this is defined in the test specification and included in the configuration of the measurement plan Keep in mind that the CBSF XS has to acclimate to the surroundings for at least two hours before beginning operation Spring for pressure measuring film Optimal measuring point Mounting hole for damping element Damp...

Страница 19: ...r Clamping point 8 2 Defining Measurement Target The collision scenarios have to be defined before measurement begins Body zones where potential collisions between robot work site personnel and robots have to be identified The collision positions and collision vectors result from the determined scenarios for which collision measurement has to be performed 8 3 Avoiding Damage to Device NOTICE Prope...

Страница 20: ...refully plan adjustment of robot parameters The vector of robot motion runs normal to the measuring surface of the sensor The vector of robot motion hits the center of the measuring surface Test collision motion without the force measuring device in place First operate at significantly reduced speed and then slowly approach realistic collision conditions Test measurement of parameters The determin...

Страница 21: ... for measurements and has to be replaced 8 4 1 Testing Proper Functioning of Force Measuring Device 1 Clean the measuring surface on your force measuring device 2 Place the CBSF XS on a flat surface The measuring surface should face up 3 Carefully lower the reference weight onto the measuring surface and wait until measurement begins If the force measured is the same as the force indicated on the ...

Страница 22: ...he arrow see figure 8 6 Affixing Pressure Measurement Film Once the damping element K1 has been positioned properly on the device place the pressure measurement film on the measuring surface There is a spring to help ensure proper placement Use the spring to secure the pressure measurement film Mounting hole for damping element Pressure measurement film Spring Fig 13 Affixing pressure measurement ...

Страница 23: ...e number of a completed force and pressure measurement on the CoboSafe Scan pressure image This enables it to be later correlated to the force measurement GEFAHR WARNING Dangerous robot motion Risk of crush and collision between robot and measuring device The collision situation to be measured can be dangerous Do not reach into the collision range during measurement and keep a safe distance away f...

Страница 24: ...When using the CoboSafe Scan measuring system Scan the films promptly The film C of the CoboSafe Scan measuring system is dyed red by the collision contact Film C has to be scanned promptly to quantify the measured data For more information read the product operating manual for CoboSafe Scan 10 Transmitting Measured Data 10 1 Data Set CBSF XS The force measurements performed are saved and indexed ...

Страница 25: ...be found in the CoboSafe Vision product operating manual USB cable Only a shielded USB cable approved by the manufacturer may be used to connect the CBSF XS to the PC 11 Maintaining Functionality The CBSF XS force measuring devices should be inspected before and after measurement to ensure proper functioning Look for apparent damage and excessive pollution Never use a damaged device If there is an...

Страница 26: ... 1 Check the surface of the damping element K1 for damage and foreign objects 2 Clean the damping element K1 if necessary 3 Bend the damping element slightly and check for porosity Porous damping elements show lasting cracking when bent A porous damping element K1 may not be used and must be replaced 4 Use a cloth to carefully clean the surfaces of the damping element K1 Shore hardness 70 Use a da...

Страница 27: ...brated by the manufacturer refer to chapter Signs and Labels inspection date 11 4 2 Calibration by a Certified Laboratory The force measuring device can be calibrated by a lab accredited according to DIN EN ISO IEC 17025 We recommend having calibration performed by the manufacturer 11 4 3 Temperature Humidity The integrated thermometer and hygrometer are calibrated along with the CBSF XS measuring...

Страница 28: ...op eration or when indicated Charging batteries Refer to chapter 12 2 Laboratory scientist System integrator Every year Calibration of CoboSafe CBSF XS Manufacturer Replacement of damping el ement K1 with element equiv alent to new Laboratory scientist System integrator Every 2 years Replacing batteries Refer to chapter 12 3 Manufacturer 12 Properly Storing CBSF XS Ensure prescribed storage condit...

Страница 29: ...s Laboratory scientist System integrator CBSF XS and notebook too far apart Decrease distance Laboratory scientist System integrator No connection Use USB cable for data transmission Laboratory scientist System integrator Error code Cause Remedy Personnel 1 Device not started successfully Internal error Restart device Laboratory scientist System integrator Send device to manufacturer to be checked...

Страница 30: ...pecification Value Unit Voltage supply 3 7 V DC Measurement curve memory 100 piece Measuring range 20 280 N Maximum pressure on measuring surface 1500 N cm2 Measurement inaccuracy typical 1 v E Measuring error maximum in measuring range 3 v E Spring rate SI 75 N mm Sampling rate 1 kHz Interface USB wireless Charging battery 2 hour Battery life 8 hour Power consumption 500 mA Operating conditions S...

Страница 31: ...ndary side 5 V Charging current 0 7 2 A 14 3 Requirements for Measurement Setup Mechanical requirements contact surface Specification Value Unit Stiffness measuring points 2000 N mm Contact surface at least 350 mm2 Requirements bearing surface The stated values represent recommendations of the manufacturer 14 4 Requirements for Temperature and Humidity Measurement Temperature measurement Specifica...

Страница 32: ...straße 21 41747 Viersen Germany Further information www cobosafe com 16 Disposal NOTICE Improper disposal The measuring system contains electronic components and re chargeable batteries that can damage the environment if dis posed of improperly Damping elements as well as the transport case are not biode gradable Do not dispose of the measuring system in residual waste Environmental damage due to ...

Страница 33: ...33 CoboSafe CBSF XS 325 2810 015 EN11 Appendix 17 Appendix 140 65 50 20 56 44 4 X M4 3 5 MAX 10 15 xs 18 50 26 60 15 7 5 MOUNTING Damping element K1 ...

Страница 34: ...NOTES 34 CoboSafe CBSF XS 325 2810 015 EN11 ...

Страница 35: ...35 CoboSafe CBSF XS 325 2810 015 EN11 NOTES ...

Страница 36: ......

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