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CoboSafe-CBSF

325-2810-012US15

DETECTING AND REMEDyING MALFUNCTIONS

Detecting and Remedying Malfunctions

Error description Cause

Remedy

Personnel

Force measure-

ment repea-

tedly exceeds

limit values

Wrong selection of

robot parameters.

Adjust robot parameters

Laboratory scientist,

System integrator

CoboSafe-CBSF

incorrectly calibrated

Have CoboSafe-CBSF

calibrated

Manufacturer

CoboSafe-CBSF

defective

Check CoboSafe-CBSF

and have it repaired.

Contact customer service

Manufacturer

Display on

CoboSafe-CBSF

is blank when

device is

switched on.

Batteries empty

Charge batteries,

Laboratory scientist,

System integrator

Batteries defective

Have CBSF checked

and repaired. To do this,

contact customer service

Manufacturer

No wireless

data trans-

mission.

Wireless

deactivated.

Activate wireless

Laboratory scientist,

System integrator

Too much distance

between CoboSafe

CBSF and laptop.

Use USB cable to

transfer data.

Laboratory scientist,

System integrator

Device not started

successfully.

Internal error

Restart device

Laboratory scientist,

System integrator

Send device to manu-

facturer to be checked

Manufacturer

Module defective

Device must be sent

to the manufacturer

to be repaired

Manufacturer

Weight on device

before started

Restart the device

Laboratory scientist,

System integrator

Memory full

Delete stored measured

values

Laboratory scientist,

System integrator

Содержание COBOSAFE CBSF

Страница 1: ...al GTE Industrieelektronik GmbH Helmholtzstr 21 38 40 41747 Viersen GERMANY info gte de Tel 49 2162 3703 0 www gte de 325 2810 012US15 EN Force Gauges CoboSafe CBSF CoboSafe CBSF Force and Pressure Measurement System ...

Страница 2: ... GmbH Helmholtzstr 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 therein are protec ted by copyright and may not be removed altered or distributed without the express consent of the manufacturer Technical changes reserved ...

Страница 3: ...inning work of any kind read this manual and the general safety instruc tions Keep for later use Pay particular attention to the associated document CoboSafe General Safety Instructions and the safety instructions and warnings in this document to prevent injuries and product da mage Keep this documentation at hand so that you can look it up if necessary Share this documen tation with future users ...

Страница 4: ... Menu Navigation 16 7 4 Setting the Date and Time 18 7 5 Measured Value Display 18 8 Structure and Function CoboSafe CBSF Basic 19 8 1 CoboSafe CBSF Basic 19 8 2 Menu Navigation CBSF Basic 19 9 Damping Element K1 and Spring Rate K2 22 10 Preparing for Measurement 23 10 1 Safety When Preparing a Measurement 23 10 2 Defining Measurement Target 25 10 3 Preparing the Measurement Environment 25 10 4 Ro...

Страница 5: ...g Batteries 39 13 4 Replacing Batteries 39 13 5 Calibration 39 13 5 1 CoboSafe CBSF Inspection Date 39 13 5 2 Calibration by a Certified Laboratory 39 13 5 3 Temperature Humidity 40 13 5 4 K1 Damping elements 40 13 5 5 Spare Parts 40 13 5 6 Firmware Update 40 14 Properly Storing CoboSafe CBSF 40 15 Detecting and Remedying Malfunctions 41 16 Technical Data 42 16 1 Technical Data Force Sensor CoboSa...

Страница 6: ...instructions is a component of the measuring system and has to be stored near the measuring system ensuring that it is 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 instructi...

Страница 7: ...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 as informat...

Страница 8: ...erforming 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 3 List of Personal Protective Equipment PPE required In the above example protective gloves and safety shoes have to be worn chapter Personal Protective Equipment in Z Inspect and clean CoboSafe CB...

Страница 9: ...lisions with collaborating robots The force values are calculated in the device based on the underlying standards and publications Please observe the instruc tions for use part CoboSafe General Safety Instructions chapter Underlying standards and information leaflets The CoboSafe Vision software is used to visualize and archive the stored measurement data CoboSafe CBSF may only be used for this pu...

Страница 10: ...ure measurement setup against unauthorized access Wear specified protective equipment Secure the measurement setup against tilting If the measurement setup is established using sharp edged com ponents or has sharp corners this can result in cuts and impact injuries Tilting parts of the measurement setup e g due to low stability can cause impact and crushing injuries GEFAHR WARNING Falling componen...

Страница 11: ...on can be established for data transmission K1 damping elements are automatically detected by the CBSF it also measures temperature and humidity Attention Only the specified measuring equipment may be used to perform a measurement Measurement may not be performed when a configuration differs 4 Scope of Delivery 1 CoboSafe CBSF or CBSF Basic 1 2 3 4 5 7 6 3 2 4 5 6 The CoboSafe CBSF system consists...

Страница 12: ...e is attached to the side of the CoboSafe CBSF force sensor The type plate contains the following data Device type Spring constant Spring Rate Maximum Force Temperature range Temp Year of manufacturing Year of M Article number Art Nr Serial number Serial Charging voltage input CE label The numerical appendix for the type designation corresponds to the indi cation of the spring constant Example CBS...

Страница 13: ...t requires calibration in February 2018 6 Informative Value of the Measurement Results The informative value of the results is limited exclusively to the specific contact situation measured The values shown in the display of the CoboSafe CBSF are not sufficient for an evaluation alone The measured values can only be interpreted completely using the software CoboSafe Vision and a pressure measuring...

Страница 14: ...12US15 Qualitative curve of an impact force Ft maximum transient force N 1 Fs maximum quasistatic force N 2 Quasistatic limit for relevant body region 3 Transient limit for relevant body region 4 Permitted force and pressure range 5 2 1 4 3 5 Fig 6 Curve of an impact force ...

Страница 15: ...SF Force Sensors Measuring body 1 Measuring plate 2 Display 3 Pushbutton on rear panel 4 Base plate 5 Handle surfaces 6 Holder and mounting option for adapter Threaded hole M4 x 8 mm 7 Dimensioned drawing of the base plate A dimensioned drawing of the base plate can be found in the appendix 7 6 6 5 1 4 2 3 Fig 7 CoboSafe CBSF ...

Страница 16: ...is released Operating mode When switched on the CoboSafe CBSF is immediately ready for measurement REC After the measurement has been completed the results are displayed Short keypress Activate next measurement in manual mode Long keypress Menu opens in option Shutdown Long keypress Switch off CoboSafe CBSF Device switches off after 45 minutes auto matically Open menu Long keypress Switch on CoboS...

Страница 17: ...ess transmission Off Switches off wireless transfer transmission Cancel Cancels deleting All Data Deletes all stored measurements SVN S N WL Firmware Version Serial number of CoboSafe CBSF Wireless ID Temp Humidity Temperature display Humidity display Bat V Bat A Battery voltage in Volt Battery consumption in mA Capacity Free Used Last ID Capacity of the memory quantity of measurements Number of m...

Страница 18: ... start the software Use the CBSF Sync function to program and update Follow the instructions in CoboSafe Vision to synchronize the date and time 7 5 Measured Value Display The CoboSafe CBSF force sensor outputs the measured values in the display after the measu rement has been completed Ft maximum transient force 1 Fs maximum quasistatic force 2 Number of the current measurement 3 1 2 3 Fig 9 Meas...

Страница 19: ... Enclosure 2 Display 3 Softkeys 4 Handgrip 5 Battery Compartment 6 The force sensor is operated via 3 softkeys each which can be assigned different func tions in each menu In the following menu trees the softkeys are la beled F1 F2 and F3 Pressing the designated softkey executes a function switches between setting options or navigates in menus Fig 10 CBSF Basic Fig 11 Menu Navigation CBSF Basic ...

Страница 20: ...Damping Element K1 and Spring Rate K2 20 CoboSafe CBSF 325 2810 012US15 ...

Страница 21: ...21 CoboSafe CBSF 325 2810 012US15 Damping Element K1 and Spring Rate K2 ...

Страница 22: ... damping elements are classified by Shore hardness Colors are assigned to the diffe rent Shore hardness The correct damping element is determined by the color Color Shore hardness Green 10 Shore A 7 Blue 30 Shore A 5 Red 70 Shore A 5 The Shore hardness of the K1 damping elements can change with aging The manufacturer recommends replacement after one year as part of the calibration service If the K...

Страница 23: ...ring plan a pressure measuring film from the CoboSafe Scan or CoboSafe Tek system is placed on the damping element K1 or directly on the measuring plate Fig 9 The collision measurement is carried out with this setup Keep in mind that CoboSafe CBSF has to acclimate to the surroundings for at least two hours before beginning the operation 10 1 Safety When Preparing a Measurement CAUTION Sharp edges ...

Страница 24: ...ndled and joined while the measurement setup is being estab lished Until these components are firmly connected they can tilt or fall causing severe crushing and impact injuries CAUTION Clamping point The clamping point is located in the red area between measu ring surface and measuring body The force sensor must be held in position during the measu rement by means of a mounting adapter The force s...

Страница 25: ...n positions determine the body localizations and if necessary the specific localizations When selecting the measurement points it must be considered that only the respective contact situations can be measured and evaluated 10 3 Preparing the Measurement Environment GEFAHR WARNING Requirements for the scaffold Risk of injury from tilting scaffold Ensure firm stand of the scaffold Exclude the possib...

Страница 26: ...quipment according to the inst ructions Protective clothing safety shoes protective gloves and industrial safety helmet are necessary Properly handle heavy and bulky parts with two persons or with lifting equipment Serious injuries from falling components are possible Use safety factor 3 for firmness calculations Requirements for the contact surface The contact surface for the CoboSafe CBSF force ...

Страница 27: ...bed in this manual Carefully plan collisions and document the planning Design collision kinematics carefully and iteratively Always test at greatly reduced speeds first Then slowly increase the speeds Finally achieve the intended operating conditions at the collaboration workstation If the robot exceeds the application limits of the force and pressu re sensors during the collision material damage ...

Страница 28: ...conditions Test measurement of the parameters The specified parameters must be checked in the course of the measurement with a test measurement and if necessary repeatedly adjusted 10 5 Checking the Components The smallest unevenness on the measuring surface can have an influence on the measuring result Therefore clean the measuring surfaces before a collision measurement Please observe the instru...

Страница 29: ...il the measurement begins Measurement start Measurement starts at 20 N The measurement is running After 5 seconds the measurement result can be transferred to CoboSafe Vision and displayed If the measured force corresponds to the weight force of the reference weight applied the force sensor functions as intended If the measured value devia tes the force sensor is damaged Ö The CoboSafe CBSF has be...

Страница 30: ...ce meet the requirements of the measuring setup Ö All components have been tested and cleaned as described 10 6 Attach CoboSafe CBSF to Contact Surface 10 6 1 Attaching Mounting Adapter to contact surface Z Attaching mounting adapter to contact surface Personnel Personal Protective Equipment Laboratory scientist System integrator Protective clothing Protective gloves Safety footwear Industrial saf...

Страница 31: ...CBSF to Mounting Adapter Z Attach the CoboSafe CBSF to mounting adapter Personnel Personal Protective Equipment Laboratory scientist System integrator Protective clothing Protective gloves Safety footwear 1 Release the locking mechanism of the moun ting adapter Fig 17 Release mounting adapter 2 Attach the force sensor to the bolts of the mounting adapter Fig 18 Attach CBSF ...

Страница 32: ...orce sensor is fixed in its position and firmly connected to the mounting adapter The surface normal of the measuring surface lies on a line with the collision vector The measuring unit can be established 10 7 Mounting the K1 Damping Element The measurement plan from the CoboSafe Vision evaluation software specifies whether and which K1 damping element is to be used The damping elements are recogn...

Страница 33: ... method Fig 22 Measuring setup with CoboSafe Scan and CoboSafe Tek 11 Performing Measurement Once the measuring device is positioned properly measurement can begin After completion of the first measurement the results can be assessed in CoboSafe Vision If the permissible limit values are exceeded measures must be taken to reduce the effects of force and pressure Possible measures are for example c...

Страница 34: ... 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 from collision range Perform collisions only with the properly prepared measur ing device Body parts between the robot and the measuring device can be pinc...

Страница 35: ...force measurement are stored in the internal memory 6 End the contact situation according to the instructions in the robot s manual 7 Remove and separate the measuring unit 8 Carefully remove the microfibre cloth 9 Carefully loosen fixing aids such as adhesive tape 10 Carefully remove the pressure measuring film 11 Remove the K1 damping element and stow it in the transport case When using the meas...

Страница 36: ...tary parameters are defined when importing into the CoboSafe Vision soft ware 12 2 Wireless Data Transmission To be able to transmit data wirelessly wire transmission has to be activated by selecting ON in the wireless menu Read to chapter Menu Navigation to learn about this The range of wireless transmission is about 20 meters under normal conditions It may be restricted by external factors If tr...

Страница 37: ...ntist System integrator After each measurement Inspection and cleaning Laboratory scientist System integrator After approx 20 operating hours or when indicated Charging batteries Laboratory scientist System integrator Annually Calibration of CoboSafe CBSF Manufacturer or certified ser vice personnel Replacement of dam ping elements K1 Laboratory scientist System integrator Every 2 years Replacing ...

Страница 38: ...e measuring surface inspection is completed Please contact the manufacturer in the event of damage Ö Inspection and cleaning of the device are completed 13 2 2 Inspecting and Cleaning Compression Elements K1 Z Regularly check your K1 damping elements 1 Check the surfaces of the compression elements K1 for external damage 2 Clean the K1 damping elements if necessary 3 Bend the damping element sligh...

Страница 39: ... cycles are checked and replaced if necessary Batteries are replaced at the latest every two years 13 5 Calibration Calibration of the force sensors is necessary to ensure the measuring capability of the system To have the measuring system calibrated contact customer service Customer service can name a contact person for you or coordinate the next steps The measuring system can be mailed to the ma...

Страница 40: ...ation of the CBSF XS Otherwise the damping elements K1 should be replaced when worn or at the latest once a year 13 5 5 Spare Parts Use only original spare parts or parts approved by the manufacturer Spare parts can be obtained from GTE Industrieelektronik GmbH Please contact customer service for assistance 13 5 6 Firmware Update Firmware is updated via the CoboSafe Vision software this does not a...

Страница 41: ...ratory scientist System integrator Batteries defective Have CBSF checked and repaired To do this contact customer service Manufacturer No wireless data trans mission Wireless deactivated Activate wireless Laboratory scientist System integrator Too much distance between CoboSafe CBSF and laptop Use USB cable to transfer data Laboratory scientist System integrator 1 Device not started successfully I...

Страница 42: ...fe CBSF 25 20 500 N Measuring range CoboSafe CBSF 30 20 400 N Measuring range CoboSafe CBSF 35 20 500 N Measuring range CoboSafe CBSF 40 20 500 N Measuring range CoboSafe CBSF 50 20 500 N Measuring range CoboSafe CBSF 60 20 500 N Measuring range CoboSafe CBSF 75 20 500 N Measuring range CoboSafe CBSF 150 20 500 N Maximum pressure on measuring sur face 1500 N cm Measurement inaccuracy typical 1 Mea...

Страница 43: ...mm Spring constant CoboSafe CBSF 60 60 N mm Spring constant CoboSafe CBSF 75 75 N mm Spring constant CoboSafe CBSF 150 150 N mm Operating conditions Specification Value Unit Relative humidity non condensing 20 90 RH Temperature 10 30 C Storage conditions Specification Value Unit Relative humidity non condensing 20 90 RH Temperature 10 30 C 16 2 Technical Data CoboSafe CBSF Basic Weight and dimensi...

Страница 44: ...cy typical value 1 Measuring error maximum in measurement range 3 Spring rate SI 75 N mm Spring rate SAE 428 26 lb in Sampling rate 1 kHz Port type USB mini Charging batterie 2 hour Battery life 8 hour Charging current 500 mA Operating conditions Specification Value Unit Relative humidity non condensing 20 90 RH Temperature 10 30 C Storage conditions Specification Value Unit Relative humidity non ...

Страница 45: ...ment Setup Mechanical requirements contact surface Specification Value Unit Stiffness measuring points 2000 N mm Contact surface 80 x 80 mm Requirements bearing surface The stated values represent recommendations of the manufacturer 16 5 Requirements for Temperature and Humidity Measurement Temperature measurement Specification Value Unit Measurement inaccuracy 5 C Humidity measurement Specificati...

Страница 46: ...elektronik GmbH Customer Service Helmholztstraße 21 41747 Viersen Germany Further information www cobosafe com 18 Disposal Improper disposal Environmental damage due to improper disposal Do not dispose of the measuring system in residual waste Dispose of all components according to regulations at the place of use The measuring system contains components that can damage the environment if disposed ...

Страница 47: ... Art Nr 325 2803 022 K1 Set Damping element Art Nr 325 2803 004 Item number Name Lenght L mm 325 2801 050 COBOSAFE CBSF 10 107 325 2801 051 COBOSAFE CBSF 25 89 325 2801 052 COBOSAFE CBSF 30 75 5 325 2801 053 COBOSAFE CBSF 35 76 325 2801 054 COBOSAFE CBSF 40 73 5 325 2801 055 COBOSAFE CBSF 50 65 325 2801 056 COBOSAFE CBSF 60 64 325 2801 057 COBOSAFE CBSF 75 62 325 2801 058 COBOSAFE CBSF 150 60 325 ...

Страница 48: ......

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