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CoboSafe-Scan

325-2810-013US13

PREFACE

This operating manual describes the pressure measurement procedure CoboSafe-Scan and its

handling. The measuring method is part of a system and can only be used in conjunction with

the following components:

■

Software CoboSafe-Vision

■

Force gauge from the CoboSafe-CBSF product series

Before beginning work of any kind, read

this manual and the general safety instruc-

tions.

Keep for later use!

Pay special attention to the associated document "CoboSafe – General Safety Instructions" as

well as the safety instructions and warnings in this document to prevent injuries and product

damage. In addition, please observe the information on the functioning and storage of the

original instruction manual of Fuji Prescale film. Keep this documentation handy for future refe-

rence. Share this documentation with future users of the product.

Associated with this manual is also the document:

■

CoboSafe – General Safety Instructions

Содержание CoboSafe-Scan

Страница 1: ... Industrieelektronik GmbH Helmholtzstr 21 38 40 41747 Viersen GERMANY info gte de Tel 49 2162 3703 0 www gte de 325 2810 013US13 EN Pressure Measurement Set CoboSafe Scan CoboSafe Scan 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: ... and the general safety instruc tions Keep for later use Pay special attention to the associated document CoboSafe General Safety Instructions as well as the safety instructions and warnings in this document to prevent injuries and product damage In addition please observe the information on the functioning and storage of the original instruction manual of Fuji Prescale film Keep this documentatio...

Страница 4: ...ng Films 12 6 1 1 Safety Relevant Information 13 6 1 2 Durability 14 6 1 3 Storage 14 6 2 Calibration Element 15 6 3 Special Scanner 15 6 4 Microfiber Cloth 15 7 Quantification of the Measurement Data 16 7 1 Calibration 16 8 Preparing for Measurement 16 8 1 Tools and Consumables 16 8 2 Selecting Suitable Pressure Measurement Films 17 8 3 Checking and Cleaning 17 8 3 1 Cleaning the Scanner 18 8 3 2...

Страница 5: ...oboSafe Scan 325 2810 013US13 Table of Contents 12 Technical Data 24 12 1 Requirements for Temperature and Humidity Measurement 24 13 Costumer Service 25 14 Disposal 25 14 1 Disposal by the Manufacturer 25 ...

Страница 6: ...g manual with safety 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 fo...

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: ...p to be performed 2 Indicates the qualification required of personnel to be able to safely perform the action described In the above example the person performing the task must be a laboratory 2 Z Inspecting and cleaning CoboSafe CBSF 75 Personnel Personal Protective Equipment Laboratory scientists System integrators Protective gloves Safety shoes Special Tools Material Set of Allen keys Cleaning ...

Страница 9: ... Safety Instructions contains further information and must be observed 2 1 Intended Use CoboSafe Scan is a pressure measurement method used to determine the pressure forces and pressure distribution in collisions with collaborating robots The pressure values are calculated using the CoboSafe Vision software based on the underlying standards and publications Read the related document General Safety...

Страница 10: ...Secure measurement setup against unauthorized access Wear specified protective equipment Secure the measurement setup against tilting If the measurement setup is established using sharp ed ged components 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 compo...

Страница 11: ...oSafe Vision software and evaluated taking the measurement parameters into account The import is carried out via a scanner and a cali bration sheet specially adapted to the scanner The calibration sheet ensures that the scanned colors can be converted into correct values At the same time a control of the calibration sheet and the scanner is possible Important The significance of the measurement re...

Страница 12: ...ll as the related user manual This also includes the present document CoboSafe Scan The documentation must be available in printed form Please note the related document CoboSafe General Safety Instructions Updates An update may require adjustment of the pressure measurement system An update is then mandatory to ensure the correct evaluation via the software 6 Description of the Components 6 1 Info...

Страница 13: ...entary instructions in this manual Please use the CoboSafe Vision software and the related user manual for the application oriented evaluation 6 1 1 Safety Relevant Information The following properties must be considered when handling the film Fujifilm Prescale films are sensitive to moisture The measuring surface must not be touched as touching it can lead to a change in color Hold the film only ...

Страница 14: ... specified application and storage conditions for pressure measuring film An incorrect type specification during import into CoboSa fe Vision software will generate incorrect measured values The exposure to sunlight skin contact and ageing can falsify the measurement results of the pressure film This can erroneously classify robots as safe Severe injuries to collaborating personnel may result 6 1 ...

Страница 15: ... make the color change accessible for nume rical evaluation The scanner is described in detail in the supplier documentation of the manufacturer that is packed with the scanner See also own document of the manufacturer Operating instructions FUJITSU fi 65F 6 4 Microfiber Cloth Since the pressure measuring film is high resolution even the smallest unevenness which can be present e g with a rough su...

Страница 16: ...herefore not equal to the maximum force 7 1 Calibration The calibration of the pressure measuring film is not possible Here the specifications of the manufacturer apply for the duration of the shelf life 8 Preparing for Measurement 8 1 Tools and Consumables The following tools and materials are required for the measurement Fujifilm Prescale film Scissors Microfiber cloth optional CoboSafe CBSF for...

Страница 17: ... described below permanent damage to the measuring system can be caused when handling the measuring system This can cause measurement results to be erroneous Personal in jury caused by robots falsely classified as safe can be the result 8 2 Selecting Suitable Pressure Measurement Films If several pressure measuring films are available for selection a film must be selected whose measuring range is ...

Страница 18: ... some detergent Fig 8 1 6 Carefully dry all cleaned surfaces with a soft lint free cloth Until the scanning surface is free of dirt Ö The scan area is free from contamination 8 3 2 Checking Pressure Measurement Film Damaged film areas must not be used for the measurement Check both components of the Fujifilm Prescale film film A and film C for external damage e g cracks kinks Do not touch the mat ...

Страница 19: ...nto squares according to the above mentioned cut size Do not touch the blank 2 Cut film A like film C 3 Place film separately on a flat surface Ö The cropping process is complete and the film blanks can be used 8 5 Applying the Pressure Measurement Film After the measuring film has been cut to size it is placed on the CBSF force gauge Example with CBSF Basic Personnel Personal Protective Equipment...

Страница 20: ...ilm C Fig 10 2 on the compression element The matt side must face outwards 3 Apply cropped film A Fig 10 3 here type LW to film C The shiny side must face out wards Carefully fix the applied film to the edges of the measuring surface e g with adhesive tape Do not exert any pressure on the intended measuring area of the pressure measuring film 4 If intended Carefully cover the measuring unit with a...

Страница 21: ... message on the force gauge display indicates that the measurement has been carried out Collision duration Note that a collision time between robot and measuring device of 0 5s is main tained Ö The collision took place Z End contact situation 1 End the contact situation according to the instructions in the robot manual 2 The measuring unit can be removed 3 The pressure measuring film Film C must b...

Страница 22: ...anning the area with the notes can be excluded from the evaluation If no notes are possible due to lack of space we recommend storing film sections individually in a bag marked with the respective measurement data The force and pressure measurement can be combined within the software CoboSafe Vision in one data set by the assignment via the noted measurement number 10 Transferring Measurement Data...

Страница 23: ...n forces by changing the robot parame ters Error message for calibration colors Calibration sheet dirty or da maged Replace calibration sheet with a new one no original calibration sheet used Use the manufacturer s origi nal calibration sheet Film scan performed without calibration sheet Carry out the scan again with the calibration sheet on Scanner defective Replace scanner with scan ner of the s...

Страница 24: ...Technical information Value Unit Relative humidity non condensing 35 80 Temperature recommended 20 35 C Storage conditions pressure measuring film Technical information Value Unit Relative humidity non condensing 35 80 Temperature recommended 15 C Fujifilm Prescale film must not be used under light radiation and especially not under solar radiation Store in the dark 12 1 Requirements for Temperatu...

Страница 25: ...tronik GmbH Customer Service Helmholtzstraße 21 38 40 41747 Viersen Germany Further information www cobosafe com 14 Disposal NOTICE 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 ...

Страница 26: ...NOTES 26 CoboSafe Scan 325 2810 013US13 ...

Страница 27: ...27 CoboSafe Scan 325 2810 013US13 NOTES ...

Страница 28: ......

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