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Getting Started

10

OnRobot © 2018

www.onrobot.com

The sensor consists of a sensor body, an adapter, and a overload plug. The sensor
cable connector, the cable holder, dust sealing, serial number and markers for the
reference frame are on the sensor body. The tool is fastened to the sensor body
directly, onto the tool interface. The sensor is fastened to the robot tool flange by
the adapter.

2.3

Mounting

Use only the screws provided with the sensor. Longer screws could damage the
sensor or the robot.

2.3.1

HEX-E v1 and HEX-H v1

To mount the sensor, follow this process:

1.

Fasten Adapter-A to the Robot by four M6x8 Screws. Use 6 Nm tightening
torque.

2.

Fasten the Sensor to the adapter by five M4x8 screws with M4 washers. Use

1,5 Nm tightening torque.

3.

Fasten the cable to the Sensor with the Cable Holder by one M4x12 screw

and M4 washer. Use 1,5 Nm tightening torque.

4.

Fasten the Plug to the Sensor by one M6x30 Screw. Use 6 Nm tightening
torque.

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Содержание HEX-E v1

Страница 1: ...USER MANUAL HEX Force Torque Sensor For the Universal Robots Edition E10 OnRobot FT URCap Plugin Version 3 1 3 June 2018...

Страница 2: ...n Installation 13 2 6 URCap Plugin Setup 16 2 6 1 Example Setup 18 3 Using the URCap Plugin 20 3 1 OnRobot Feedback Variables 20 3 1 1 Effects of the TCP Position 23 3 2 Hand Guide Toolbar 23 3 3 OnRo...

Страница 3: ...5 List of Acronyms 52 6 Appendix 53 6 1 Changing the IP of the Compute Box 53 6 2 Updating the software on the Compute Box 55 6 3 Software Uninstallation 55 6 4 Return Values 55 6 4 1 F T Center Comma...

Страница 4: ...P address 60 6 5 2 Discovery Tool was able to find OnRobot Device available in the Network 63 6 5 3 Too Close to Singularity 64 6 5 4 Warning sign on Hand Guide Bar 65 6 5 5 socket_read_binary_integer...

Страница 5: ...as been modified after the edition date OnRobot A S does not assume any responsibility for any errors or omissions in this document In no event shall OnRobot A S be liable for losses or damages to per...

Страница 6: ...ce The sensor is partly completed machinery and a risk assessment is required for each application the sensor is a part of It is important that all safety instructions herein are followed The safety i...

Страница 7: ...d in this document Table 1 Conventions Courier Text File paths and file names code user input and computer output Italicized text Citations and marking image callouts in text Bold text UI elements inc...

Страница 8: ...force torque sensor variant HEX E v1 or HEX H v1 OnRobot OptoForce Compute Box OnRobot OptoForce USB drive adapter A overload plug sensor cable 4 pin M8 4 pin M8 5 m Compute Box power cable 3 pin M8...

Страница 9: ...x8 Torx screws 10 pcs 24 M5x8 Torx screws 9 pcs 25 M4x6 Torx screws 7 pcs 26 M6 washer 10 pcs 27 M5 washer 9 pcs 2 2 Sensor Description 2 2 1 HEX E v1 and HEX H v1 The sensor consists of a sensor body...

Страница 10: ...by the adapter 2 3 Mounting Use only the screws provided with the sensor Longer screws could damage the sensor or the robot 2 3 1 HEX E v1 and HEX H v1 To mount the sensor follow this process 1 Faste...

Страница 11: ...rface 2 3 2 HEX E v2 and HEX H v2 To mount the sensor follow this process 1 Fasten Adapter A2 to the Robot by four M6x8 Torx Screws with M6 washers Use 6 Nm tightening torque 2 Fasten the Sensor to th...

Страница 12: ...the Compute Box somewhere near or inside the UR robot control cabinet and connect the 4 pin M8 sensor cable The provided cable gland can be used to lead the cable into the UR Control cabinet 4 Connec...

Страница 13: ...is in progress 2 Wait for a green USB sign to appear indicating the upload is completed 3 Remove USB drive The example codes are now in the program folder of the UR robot The URCap plugin and a few ex...

Страница 14: ...arted 14 OnRobot 2018 www onrobot com 2 Press the URCaps Setup button 3 Press the sign 4 Select the OnRobotForceTorqueSensor x y z urcap file from the programs OnRobot_UR_Programs folder 5 Press the O...

Страница 15: ...www onrobot com 6 The screen shows that the OnRobot Force Torque Sensor URCap plugin has been installed 7 Press the Restart button to finalize installation process 8 Click on the Program Robot button...

Страница 16: ...T Setup 11 The welcome screen of the newly installed OnRobot Force Torque Sensor URCap plugin is shown 12 The OnRobot Hand Guide Toolbar is now also visible Continue with URCap Plugin Setup 2 7 URCap...

Страница 17: ...sors which can be reached with the current network configuration Make sure that the correct sensor is selected by checking the sensor IP and serial number Connected sensors can be discovered by pressi...

Страница 18: ...d Enable button checkbox is checked the Enable button on the Teach Pendant functions as a live man switch that is the Enable button has to be pressed continuously for the Hand Guide to function If the...

Страница 19: ...this example the Device with serial number HEXEA040 was selected as the IP address is matched to HEXEA040 After pressing the Test Connection button basic information is shown about the device The sta...

Страница 20: ...eatures are demonstrated in this section through an example program The program shows how to gain data from the OnRobot sensor and how to zero the Force Torque values of the sensor 1 Click on Program...

Страница 21: ...Plugin 21 OnRobot 2018 www onrobot com 5 Select the Wait command in the program structure 6 Select the Command tab 7 Set the Wait to 0 01 seconds 8 Press the Play button to execute program 9 Select th...

Страница 22: ...2 Ty2 Tz2 Nm Tx Torque in the X direction in Newton Meter Nm Ty Torque in the Y direction in Newton Meter Nm Tz Torque in the Z direction in Newton Meter Nm bFT Force and torque values calculated in t...

Страница 23: ...nt on the measured torque in the figure below 3 2 Hand Guide Toolbar It is assumed that the OnRobot Sensor is set up as described in Example Setup and you have not disabled the plugin using the ENABLE...

Страница 24: ...nRobot sensor The Enable button has changed background color is now green Make sure that you do not touch the tool before the hand guiding is activated Enable button turned to green otherwise the robo...

Страница 25: ...calculates the middle of the two boundary points and moves to that point section C Make sure that the F T Zero command is used before the F T Center is executed and the tool is not in contact with an...

Страница 26: ...ent and for the sensor reading It can be set to Base or Tool according to the UR s reference frames Generate warning If enabled then a pop up message blocking appears once the set limits are reached o...

Страница 27: ...Tool Custom Tool according to the UR s reference frames The Custom coordinate systems are calculated from the basis coordinate system and the given Roll Pitch and Yaw values For the Custom Base coord...

Страница 28: ...used before the F T Control is started and the tool is not in contact with any object the force torque reading is zero This command has no return value Guidelines to PID force torque controller settin...

Страница 29: ...sing the P Gain or D Gain if it is above 1 If the force control is reacting to changes too slowly that is it keeps pushing the surface hard after touching it try decreasing the I Gain As a rule of thu...

Страница 30: ...he size of the full stack The sign defines which direction the destacking is performed along the given axis Item thickness i The stacked items thickness Max number of items Defines how many items coul...

Страница 31: ...eeds to be inserted to the socket pointing in the right direction and close to the socket entrance The final position and orientation will be corrected by the F T Fix and Rotate command It tries to pu...

Страница 32: ...s to be set by a percent of the Distance Check torque goal after During the rotational phase after the set percentage of the Rotate angle the torque goal checking is activated Force change goal During...

Страница 33: ...eturn values see F T Fix and Rotate Command Return Values 3 3 5 F T Guard Command Every UR commands that are put under the F T Guard will be executed but the robot will stop once one of the set limits...

Страница 34: ...sert Box Command First position the object close to the entrance of the hole and start from a tilted orientation It will move the object in phase A along the predefined axis for example Z as long as t...

Страница 35: ...ment Force multiplier The force limit for the edge detection is multiplied by this value to calculate the force limit for the final insertion Generate warning If enabled then a pop up message blocking...

Страница 36: ...not in contact with any object the force torque reading is zero Pushing force The force target used for the force control to gently push the pin into the hole Minimum depth The minimum distance requi...

Страница 37: ...cted Generate warning If enabled then a pop up message blocking appears if the insertion was not successful If disabled then no pop up message is shown but the user can handle any possible errors by t...

Страница 38: ...he acceleration and deceleration parameter of the movement m s2 Coordinate system The coordinate system used both for the movement and for the sensor reading It can be set to Base Custom Base Tool Cus...

Страница 39: ...enerate warning If enabled then a pop up message blocking appears if the target position is not reached the move is not successful If the move is successful then no warning is displayed If disabled th...

Страница 40: ...ed starting from the actual position of the Tool instead of the absolute position where it was recorded If it is unchecked the Tool moves to the original starting point and replays the Path from there...

Страница 41: ...e robot along a route or together with the F T Path to move the robot along a Path and stop once the defined force torque limits are reached object found If the movement reaches the last waypoint or t...

Страница 42: ...pose button to specify the orientation of the coordinate system by the orientation of the current TCP To demonstrate the given orientation the Rotate tool to this orientation HOLD button can be used G...

Страница 43: ...The axis along the stacking is performed X Y or Z Max distance D The stopping distance along the defined axis It is measured from the Starting position SP and needs to be more than the size of the ful...

Страница 44: ...stack is full If disabled then no pop up message is shown but the user can handle any possible errors by the return value of the command The command updates the of_return variable once the command exi...

Страница 45: ...current TCP pose button Clear button deletes the contents of the Target TCP pose field Get current TCP pose button inserts the current TCP coordinates into the Target TCP pose field Move robot to pos...

Страница 46: ...nt represents compared to the previous robot position 3 3 13 F T Zero Command This command can bias the force and torque values of the sensor Make sure that the tool is not in contact with any object...

Страница 47: ...orce torque It monitors the set limits in parallel to your code and once the set limits are reached it stops the robot The programs OnRobot_UR_Programs folder contains a collision detection example UR...

Страница 48: ...The items are moved to the next stack position and also monitors whether the stack is full or not 2 F T Destack This command is also similar to the UR s built in Destacking Seek command but uses the O...

Страница 49: ...on based solutions Even with cameras one cannot have a robust solution With the help of the precise OnRobot F T sensor and the F T Insert Pin command anyone can easily and robustly solve tasks that re...

Страница 50: ...OnRobot 2018 www onrobot com 3 5 8 Fix and Rotate With the help of the precise OnRobot F T sensor and the F T Fix and Rotate command anyone can easily and robustly solve tasks that requires using any...

Страница 51: ...the sensor It performs the calculations needed to use the commands and applications implemented by OnRobot It needs to be connected to the sensor and the robot controller OnRobot Data Visualization D...

Страница 52: ...P dual in line package F T Force Torque ID Identifier IP Internet Protocol IT Information technology MAC media access control PC Personal Computer RPY Roll Pitch Yaw SP Starting Position SW software T...

Страница 53: ...the provided Ethernet cable 2 If your device is in the factory default settings proceed to step 3 Otherwise make sure to switch the DIP switch 3 to the ON position up and the DIP switch 4 to the OFF...

Страница 54: ...8 www onrobot com 5 Click on Network Configuration in the left side menu The following screen is displayed 6 Uncheck the Enable DHCP client checkbox if it is checked 7 Edit the IP Address 8 Set DIP sw...

Страница 55: ...drive and then it permanently deletes the OnRobot_UR_Programs folder from the UR 2 Uninstall the URCap plugin a Go to the Welcome screen of the PolyScope b Click Setup Robot c Click on URCaps Setup a...

Страница 56: ...ceeding the set limit 4 The movement to the next element was unsuccessful a collision occurred 5 The movement to the starting point was unsuccessful a collision occurred 6 4 4 F T Fix and Rotate Comma...

Страница 57: ...ertion state while center pointing of the Z axis Please check the position and orientation 8 The box cannot be inserted to position too many collisions occurred Please check the position and orientati...

Страница 58: ...e is corrupted 6 4 9 F T Path Command Return Values This command has no return value 6 4 10 F T Search Command Return Values 0 The search ended successfully because a force or torque greater than the...

Страница 59: ...or torque exceeding the set limit 4 The movement to the next element was unsuccessful a collision occurred 5 The movement to the starting point was unsuccessful a collision occurred 6 4 12 F T Waypoin...

Страница 60: ...an happen when the Network Configuration of the UR Robot has not been finished The Network Configuration might not be finished when you select the OnRobot Setup page just after turning on the robot or...

Страница 61: ...eration failed To resolve the problem check the Network Configuration of the UR Robot by doing the following 10 Press the Setup Robot button 11 Press the Setup Network button 12 If the network of the...

Страница 62: ...on as the UR Robot or consult the Network Supervisor 15 If DHCP or Static Address is selected and the problem remains consult your Network Supervisor In case of a DHCP after the proper IP address is...

Страница 63: ...Mask is extended with Hint 255 255 0 0 HINT This error occurs when the OnRobot Device and the UR Robot are not in the same Subnet To resolve the problem follow this procedure 1 If the OnRobot device i...

Страница 64: ...e directly above or below the robot base a warning message is displayed Pressing the Stop Program button will disable the Hand Guide function Pressing the Continue button will switch to Safe Mode whic...

Страница 65: ...n and then press it again to start the OnRobot Hand Guide Toolbar If the error persists uninstall the OnRobot Force Torque Sensor URCap package as described in Software Uninstallation restart the UR R...

Страница 66: ...ements with as little variations in translational and rotational speeds as possible Also try to avoid recording Paths that contain rotations without translational elements 6 5 8 Error number 2 on Path...

Страница 67: ...limitation removed Edition 5 F T Search and F T Move command return values updated Path Recording section removed F T Path Command section added F T Insert Connector section removed F T Insert Connect...

Страница 68: ...ges Edition 8 Path recording maximum rotation per translation limit added to section F T Path Command Section Error number 2 on Path Saving and Error number 3 on Path Saving added Editorial changes Ed...

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