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Single

Dual

Robot program

TCP (Optional)
MoveJ (Set TCP = Active TCP)

Robot program

TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)

TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)

6.5. Feedback Variables

6.5.1. RG2-FT

Feedback
Variable

Unit

Description

on_return

The return value for the OnRobot commands

F3D

[N]

Length of the 3D force vector

F3D =

√

Fx² + Fy² + Fz²

F3D_Left

[N]

Length of the 3D force vector for the left finger sensor

F3D_Left =

√

² + Fy

² + Fz

F3D_Right

[N]

Length of the 3D force vector for the right finger sensor

F3D_Right =

√

² + Fy

² + Fz

FT_Base

[3xN,
3xNm]

Force and torque values calculated in the Base
Coordinate system, in an array

FT_Left

[3xN,
3xNm]

list of {Fx,Fy,Fz,Tx,Ty,Tz} for the left finger sensor

FT_Right

[3xN,
3xNm]

list of {Fx,Fy,Fz,Tx,Ty,Tz} for the right finger sensor

FT_Tool

[3xN,
3xNm]

Force and torque values calculated in the Tool
Coordinate system, in an array

Part_Width

[mm]

The actual value of the detected part width (-1 if it not
applicable) measured by the proximity sensors

Proximity_Left

[mm]

The left proximity (distance) sensor actual value

OPERATION

Содержание RG2-FT

Страница 1: ...USER MANUAL FOR UR ROBOTS v1 4 1 Original Instructions ...

Страница 2: ...tion Mode s 10 3 1 Operation via Compute Box 10 4 HW Installation 11 4 1 Overview 11 4 2 Robot Mount 11 4 2 1 Optional Angle Bracket 11 4 2 2 Quick Changer Mounting 12 4 2 2 1 Quick Changer Robot Side 12 4 2 2 2 RG2 FT 12 4 2 3 Tools 12 4 2 3 1 RG2 FT 12 4 3 Compute Box Mount 13 4 3 1 Optional Clip on Bracket 13 4 4 Wiring via Compute Box 13 4 4 1 Tool Data Cable 14 4 4 1 1 RG2 FT 14 4 4 2 Etherne...

Страница 3: ...FT 45 6 4 TCP Configuration 46 6 5 Feedback Variables 50 6 5 1 RG2 FT 50 7 Additional Software Options 52 7 1 Compute Box Eye Box 52 7 1 1 Interfaces 52 7 1 2 Web Client 52 7 1 3 Web Client Devices Menu 54 7 1 3 1 RG2 FT 55 7 1 4 Web Client Configuration Menu 57 7 1 5 Web Client Update Menu 58 7 1 6 Web Client Account Settings 60 8 Hardware Specification 64 8 1 Technical Sheets 64 8 1 1 RG2 FT 64 ...

Страница 4: ...G TCP 75 8 3 1 RG2 FT 76 8 3 2 Angle Bracket 76 9 Maintenance 79 9 1 RG2 FT 79 10 Troubleshooting 80 10 1 URCap Operation 80 10 2 Tool Functions Are Not Available 80 10 3 Error During Operation 80 11 Warranties 81 11 1 Patents 81 11 2 Product Warranty 81 11 3 Disclaimer 81 12 Certifications 82 12 1 EMC 83 12 2 Declaration of Incorporation 84 12 2 1 RG2 FT 84 4 ...

Страница 5: ...e manual covers the following OnRobot products and their components 1 2 1 RG2 FT Tool Version RG2 FT v2 1 2 2 Software and Firmware 1 2 2 1 URCap Software The manual covers the following software versions Software Version URCap v5 4 4 1 2 2 2 Compute Box The manual covers the following Compute Box software version Software Version Compute Box v5 4 4 NOTE When the used Compute Box has lower softwar...

Страница 6: ...e or in part without prior written approval of OnRobot A S The information herein is subject to change without notice and should not be construed as a commitment by OnRobot A S This manual is periodically reviewed and revised OnRobot A S assumes no responsibility for any errors or omissions in this document Copyright 2015 2020 by OnRobot A S The OnRobot A S logo is trademark of OnRobot A S INTRODU...

Страница 7: ... to be used on collaborative robots and light industrial robots with different payloads depending on the end of arm tooling specifications OnRobot tools are normally use in pick and place palletizing machine tending assembly quality testing and inspection and surface finishing applications The end of arm tooling should only operate under conditions noted in 8 1 Technical Sheets section Any use or ...

Страница 8: ...ng errors or malfunctioning of any of OnRobot tools WARNING OnRobot tools are not allowed to be exposed to condensing conditions when power is on or when connected to a robot If condensing conditions appear during transport or storage the product must be placed between 20 and 40 Celsius degrees for 24 hours before power is applied or before connected to a robot It is recommended that OnRobot tools...

Страница 9: ...es if OnRobot tools cable gets stuck to something Workpiece itself represents a hazard 2 4 Environmental Safety OnRobot A S products must be disposed of in accordance with the applicable national laws regulations and standards The product is produced with restricted use of hazardous substances to protect the environment as defined by the EU RoHS Directive 2011 65 EU These substances include mercur...

Страница 10: ...re shown Where the two requires different steps or screens it is highlighted and referred as CB3 series e Series 3 1 Operation via Compute Box The product s could be used on both UR series via Compute Box which works with all products and product combinations Differnet modes of operation require the same installation operation steps Where the via Compute Box mode requires different steps it is hig...

Страница 11: ...hanger option 4 Mount the tool s if applicable 4 2 1 Optional Angle Bracket Angle Bracket 1 M6x10 screws ISO14580 8 8 2 Angle Bracket ISO 9409 1 50 4 M6 3 Dowel pin Ø6x10 ISO2338 h8 4 Adapter Robot tool flange ISO 9409 1 31 5 4 M5 Use 10 Nm tightening torque NOTE If using the optional Angle Bracket make sure to always adjust the TCP as described in the 8 3 2 COG TCP section Otherwise some of the f...

Страница 12: ...ning torque 4 2 2 2 RG2 FT Tool QC R v2 QC R v2 4 5 A RG2 FT 4 2 3 Tools 4 2 3 1 RG2 FT Step 1 Move the tool close to the Quick Changer as illustrated The hook mechanism rod and hook tongue will keep the lower part locked once mounted Step 2 Flip the tool until it is fully mated and you hear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in...

Страница 13: ...o a surface using the provided Clip on Brackets included only from 17th December 2020 Do the following on both sides of the Compute Box 1 Hook the Clip on Bracket to the rail on the side of the Compute Box and then flip it down 2 Fasten the Clip on Bracket with the plastic srew 4 4 Wiring via Compute Box DANGER Use only original OnRobot tool data cables Connect the following cables to wire the sys...

Страница 14: ...in connector Then route the Tool data cable to the Compute Box CB and use the supplied Velcro tape black to fix it NOTE Make sure that during the routing some extra length is used at the joints so that cable is not pulled when the robot moves Also make sure that the cable bending radius is minimum 40mm for the HEX E H QC it is 70mm Finally connect the other end of the Tool data cable to the Comput...

Страница 15: ...et switch to be able to use two network devices at the same time Connect the other end of the supplied cable to the Compute Box s ETHERNET connector CAUTION Use only shielded maximum 3m long Ethernet cables WARNING Check and make sure that the Compute Box enclosure metal and the robot controller enclosure metal are not connected no galvanic connection between the two 4 4 3 Power Supply Compute Box...

Страница 16: ...re the arrows are shown and not the cable CAUTION Use only original OnRobot power supplies Finally power up the power supply that will power the Compute Box and the connected Tool s 4 4 3 1 RG2 FT Tool Power Supply 1 5 A Power Supply 5 A Power Supply 6 25 A RG2 FT HW INSTALLATION 16 ...

Страница 17: ... 6 is not recommended instead please use the 5 7 1 Insert the OnRobot USB drive in the USB slot on the right side of the Teach Pendant 1 Insert the OnRobot USB drive in the USB slot on the top right side of the Teach Pendant 2 Select the Setup Robot option from the main menu then the URCaps option 2 Then tap on the menu top right corner of the screen then from the System section tap on the URCaps ...

Страница 18: ... Uninstall Software UR CB3 UR e Series 1 Select the Setup Robot option from the main menu then the URCaps option 1 Tap on the menu top right corner of the screen then from the System section tap on the URCaps menu 2 Select the OnRobot URCap file 2 Select the OnRobot URCap file 3 Tap on the sign 3 Tap on the sign 4 Then the system needs to be restarted for the changes to take effect Tap on the Rest...

Страница 19: ...wn Tap on the Installation tab in the top menu Then tap on the URCaps 5 1 3 1 Load Multiple Devices Device info In the normal view of the panel the available functions are shown below Dropdown menu to select a device robot communication channel Select whether you want to discover the devices connected to the tool connector or to the compute box SW INSTALLATION 19 ...

Страница 20: ...button Remember to save it before if there are any unsaved changes in your program or settings NOTE After setting up the device the changes need to be saved to be part of the current installation For the e Series UR robots tap on the Save button from the top menu and use the Save Installation button For the CB3 UR robots use the Save button NOTE OnRobot products are checked after the robot is rest...

Страница 21: ...rolled by dropdown menu select OnRobot as shown in the image below 4 Make sure to save the changes to be part of the current installation To communicate through the tool connector on CB3 UR robot please set the following configuration 1 Go to the I O tab 2 In the Controlled by dropdown menu select OnRobot as shown in the image below 3 Make sure to save the changes to be part of the current install...

Страница 22: ...oduct is connected to the tool connector then a background service program is running every 2 seconds In addition to that the Tool IO is set to be logic high and low randomly 5 1 3 3 Device Info To get more information about the devices press on and the following screen will show SW INSTALLATION 22 ...

Страница 23: ...if there is any Device name The Serial number System health and Firmware version are shown Update this will update the firmware if an update is available Depending on the selected devices different panels will become available to configure the devices 5 1 3 4 RG2 FT The configuration panels for the RG2 FT are shown in the image below SW INSTALLATION 23 ...

Страница 24: ...ng will be stopped automatically The default value is 0 that sets the timeout to infinite Mounting In the normal view of the panel the selected mounting angle is shown To set the mounting angle press on If only one gripper is mounted follow the steps bellow If there are 2 grippers follow the steps half a page below 1 Make sure you are looking at the cable from the same side as it is shown on the p...

Страница 25: ...he panel the set values are shown To change the values press on and the following screen will show Calibrated value shows the value to use for the application This value is calculated as the Raw value minus the Offset value SW INSTALLATION 25 ...

Страница 26: ...and make a measurement to set the right offset Wait until the gripper is closed 5 Once the gripper is opened the measurement is ready 6 Tap on Yes to save the new offset and the setup is finished To clear any offset previously been set tap on No To prevent any changes of the proximity offsets tap on Cancel and confirm it by taping on that again TCP In the normal view of the panel the TCP of the ro...

Страница 27: ...itten Dynamic TCP mode When unchecked the TCP is left unchanged Static TCP mode For further information and best practices on the TCP setting see 6 4 TCP Configuration section TCP offset Set the Linear offset X Y Z and the Rotation in RPY Roll Pitch Yaw values to adjust the OnRobot device dependent calculated TCP SW INSTALLATION 27 ...

Страница 28: ... fingers are not in contact with any obstacle when the program is started Otherwise the sensors will not be properly zeroed 6 1 1 1 RG Grip When the RG Grip command is executed the gripper will try to reach the specified target W Width and F Force and if selected Depth compensation ON and or Automatic centering ON The different functions are explained below NOTE To cancel any force torque offset e...

Страница 29: ... opening the gripper the robot moves to compensate for the circular movement of the fingers so that the fingertips remain on the target when pressed the following graphical illustration will appear in a new page Auto centering if checked during closing and opening the gripper the robot moves the gripper sideways to grab the item symmetrically based on the proximity signals of the fingers when pres...

Страница 30: ...tons Workpiece Mass the workpiece weight can be entered The URCap software will then perform the calculation of the resulting payload mass considering the gripper the Quick Changer and the workpiece mass 6 1 1 2 RG2 FT Insert Part The RG2 FT Insert Part command can be used for precision fitting an object into a hole NOTE To cancel any force torque offset execute an HEX Zero command at the beginnin...

Страница 31: ...en the Y axis of the fingertip sensor and the insertion direction of the item to be inserted Pushing force the pushing force can be selected sets the pushing force to be 3N sets the pushing force to be 6N sets the pushing force to be 12N Min depth The minimum distance required to consider the insertion successful from the starting point Max depth The maximum distance the insertion can reach from t...

Страница 32: ...ertion is expected to progress with If this parameter is set and the insertion is progressing at a slower pace it is interrupted and considered unsuccessful If it is set to zero this exit criterium is neglected Pushing force The force target used for the force control to push the item into the hole Overshoot force If this parameter is set after the Minimum depth has been reached a bump an increase...

Страница 33: ...nstant force torque to a defined direction during movements The HEX Force Control command alters the trajectory of its child nodes in order to keep the force and torque values constant along the selected axis The HEX Force Control command does not control forces in the direction that the tool is moving using the Trajectory and the HEX Search commands The following commands can be used as child nod...

Страница 34: ...igher percentage value the tool can follow the object more precisely Setting the slider to 0 OFF position deactivates the torque control Auto checkbox enables the system to slightly modify the Keep Force and Keep Torque parameters during operation to minimize the vibration but maintain the required force and torque value By default the checkboxes are selected Force Control Advanced Settings Pressi...

Страница 35: ... all the way along the set trajectory without any contact the search is not successful the object is not found Select the image to use either the Search Part or the Center Tool options Search Part The Search Part option can be used for exapmle to find and remove the top object from a stack If no more objects are found the stack is empty therefore the search is unsucessful OPERATION 35 ...

Страница 36: ... the program and the data is lost Max distance D The maximum distance that the tool is going to move during the search operation Max rotation The maximum rotation that the tool is going to execute during the search operation The rotation direction uses the right hand rule Search Part Advanced Settings Pressing the advanced settings icon displays additional options Contact Force F The force value t...

Страница 37: ... is unsuccesful Max rotation The maximum rotation that the tool is going to execute during the search operation The rotation direction uses the right hand rule Center Tool Advanced Settings Pressing the advanced settings icon displays additional options Contact Force F The force value that needs to be reached to detect a target object TCP Speed The movement speed while searching for an object Stor...

Страница 38: ...used when the robot is not moving and before executing any force related tasks 6 1 1 6 OnWaypoint The OnWaypoint command is used to set a position for the robot Type The type of the waypoint It can be set to Fixed OPERATION 38 ...

Страница 39: ...nd the Rotation in RPY Roll Pitch Yaw values to adjust the OnRobot device dependent calculated TCP Payload Modify Tool payload If enabled the UR s payload will be overwritten enter the workpiece mass that is attached to the device The device own mass is added automatically Use TCP offset for CoG set the center of gravity of the workpiece at the active TCP position Center of gravity CX CY CZ set th...

Страница 40: ...ress on the OnRobot icon Each OnRobot End of Arm Tooling has its own functionality and that is explained in the sections below To open up the toolbar in the CB3 press on the OnRobot icon on the top left side The icon might take around 20 seconds to appear after robot power up NOTE All toolbars are disabled while any robot program is running Some toolbars are also disabled and cannot be used while ...

Страница 41: ...To enable disable the toolbar press on the OnRobot logo on the top right corner and check uncheck the Enable toolbar checkbox OPERATION 41 ...

Страница 42: ...uctions under How to Access the Toolbar in the 6 2 URCap Toolbar section The RG2 FT has a toolbar for gripping functionality and another toolbar for hand guiding Both are described below The toolbar for gripping functionality is shown below OPERATION 42 ...

Страница 43: ...Current width shows how wide the gripper is opened Force Set the target gripping force These are open and close hold to run buttons The toolbar for hand guiding is shown below OPERATION 43 ...

Страница 44: ...ng the UR robot first make sure that you do not touch the tool and then press and hold the enable button The button turns to an hourglass icon while the hand guiding is being initiated Wait until the enable button turns blue and drive the robot by hand with the help of the OnRobot sensor NOTE Make sure that you do not touch the tool before the hand guiding is activated enable button turned to blue...

Страница 45: ...guiding by hand NOTE If you are experiencing vibration grab and guide the tool at the Center of Gravity roughly it is at the center 6 3 URScript Commands URScript commands can be used alongside other scripts 6 3 1 RG2 FT When the OnRobot URCap is enabled there will be a defined RG2 FT script function rg2ft_proxi_offsets_set ProxL 0 0 ProxR 0 0 This function can be used to manually set offset value...

Страница 46: ...tool while the workpiece is being stationary in space see illustration on the right More than one TCP point could be defined but at a given time only one TCP can be active In UR it is called the Active TCP By default UR s Move commands are always recording the Waypoints according to the Active TCP For further info about the UR s TCP handling read the UR s Manual How far the TCP needs to be moved t...

Страница 47: ...when a new device is detected or when the mounting angle is changed only for RG2 6 and RG2 FT The calculated values are static parameters and do not change during program execution NOTE For the RG2 RG6 and RG2 FT grippers the TCP is calculated always assuming that the gripper is fully closed It is a good practice to set the used TCP option as the Default TCP in the UR s TCP Configuration but it is...

Страница 48: ...e the OnRobot TCP command just before the F T Move to set the Active TCP to the right value As summary here is a code example Single Dual Not mandatory to set OnRobot TCP as Default TCP Not mandatory to set OnRobot TCP as Default TCP Robot program MoveJ Set TCP OnRobot_Single Alternatively TCP F T Move Robot program MoveJ Set TCP OnRobot_Dual_1 MoveJ Set TCP OnRobot_Dual_2 OPERATION 48 ...

Страница 49: ...ng of Set as Active TCP Compared to the Static TCP mode where it is needed to be changed to a predefined TCP In case when two grippers are used the Active TCP needs to be selected to which gripper to belong to first use an OnRobot TCP command and select from Gripper 1 and Gripper 2 which one to be used then the UR s Move will have an updated Active TCP that could be used for multiple Move commands...

Страница 50: ...xL FyL FzL F3D_Right N Length of the 3D force vector for the right finger sensor F3D_Right FxR FyR FzR FT_Base 3xN 3xNm Force and torque values calculated in the Base Coordinate system in an array FT_Left 3xN 3xNm list of Fx Fy Fz Tx Ty Tz for the left finger sensor FT_Right 3xN 3xNm list of Fx Fy Fz Tx Ty Tz for the right finger sensor FT_Tool 3xN 3xNm Force and torque values calculated in the To...

Страница 51: ...th of the 3D torque vector for the left finger sensor T3D_Left TxL TyL TzL T3D_Right Nm Length of the 3D torque vector for the right finger sensor T3D_Right TxR TyR TzR T3D Nm Length of the 3D torque vector T3D Tx Ty Tz Width mm Distance between the fingers of the Gripper calculated by finger angle encoders OPERATION 51 ...

Страница 52: ...er and the Compute Box It is recommended to use Auto mode Configure the IP address in Auto Mode as follows Use the factory default settings DIP switch 3 and 4 in OFF position In this case the Compute Box has both Dynamic Host Configuration Protocol DHCP client and DHCP server enabled DHCP Client enabled means Compute Box will automatically obtain get IP address FROM the connected robot computer if...

Страница 53: ...e Power the Compute Box with the supplied power supply Wait one minute for the Compute Box LED to turn from blue to green Open a web browser on your computer and type in the IP address of the Compute Box factory default is 192 168 1 1 The Sign in page opens The factory default administrator login is Username admin Password OnRobot For the first login a new password needs to be entered password mus...

Страница 54: ...erface through OnRobot WebLogic Paths Import export the recorded Paths not available to all robots Update Update the Compute Box and the devices Account settings e g change password add new user Select the language of the Web Client In the following these menus will be described 7 1 3 Web Client Devices Menu To control monitor a device click on the Select button ADDITIONAL SOFTWARE OPTIONS 54 ...

Страница 55: ...Tz are shown in N Nm along with the Proximity sensor values optical distance sensor built in the fingertip are show in mm for the left and right fingertip sensor The Zero toggle switch can be used to zero the force and torque reading ADDITIONAL SOFTWARE OPTIONS 55 ...

Страница 56: ... Read the actual Left and Right Proximity values e g 19mm and 25mm Write these values to the Left and Right edit boxes and click on the Save button to store it permanently Open the gripper and the calibration is finished NOTE Setting the offsets too high may clip the proximity reading at 0 mm negative distance is not shown In case of clipping reading 0 mm try to decrease the offset values The grip...

Страница 57: ... the network that the device is connected to has no DHCP server then the fixed 192 168 1 1 IP is used for the device after 60 seconds of timeout If it is set to Static IP then a fixed IP address and subnet mask must be set If it is set to Default Static IP the fixed IP revert to the factory default and cannot be changed After all parameters are set click on the Save button to store the new values ...

Страница 58: ...P address to connect to the robot IP address Origin to target instance id refer to the robot s EtherNet IP manual Scanner mode Target to origin instance id refer to the robot s EtherNet IP manual Scanner mode Configuration instance id refer to the robot s EtherNet IP manual Scanner mode Requested packet interval ms RPI value in ms minimum 4 Check the checkbox and the Compute Box will try to automa...

Страница 59: ...mware updates Software Update Start the software update by clicking on the Browse button to browse for the cbu software update file Then the Browse button will turn to Update Click on that Update button to start the software update process see below If the update is finished and was successful the message below is shown Firmware Update The firmware update is only required when any of the component...

Страница 60: ...t Settings This menu can be used to See the currently sign id user Go to Account settings Sign out Account settings This page has two tabs My profile to see and update the currently logged in users profile e g change password Users to manage users e g add remove edit On the My profile tab to change any profile data e g password click on the Update profile button ADDITIONAL SOFTWARE OPTIONS 60 ...

Страница 61: ...On the Users tab click on the Add new user button to add more users ADDITIONAL SOFTWARE OPTIONS 61 ...

Страница 62: ...There are three user levels Administrator Operator User Fill in the user information and click Save Later on to change any user information just click on the edit icon ADDITIONAL SOFTWARE OPTIONS 62 ...

Страница 63: ...To prevent a user to sign in either could be deactivated by changing its Active status in the edit mode or removed by clicking the delete icon ADDITIONAL SOFTWARE OPTIONS 63 ...

Страница 64: ...6 0 023 mm inch Gripping force adjustable 3 40 N Gripping speed 55 110 184 mm s Gripping time 0 04 0 07 0 11 s Adjustable bracket tilting accuracy 1 Ambient operating temperature 5 50 C Storage temperature 0 60 C Motor Integrated electric BLDC IP Classification IP54 Dimensions 219 x 149 x 49 8 6 x 5 9 x 1 9 mm inch Product weight 0 98 2 16 kg lb see RG2 FT Gripping Speed Graph based on 8mm total m...

Страница 65: ...oximity Sensor Properties Min Typical Max Units Sensing range 0 0 100 3 93 mm inch Precision 2 0 078 mm inch Non linearity 12 the non linearity refers to the max value and depends on the object properties e g surface type and color Operating Conditions Minimum Typical Maximum Unit Power requirement PELV 24 24 V Power consumption 6 5 22 W Operating temperature 0 32 55 131 C F Relative humidity non ...

Страница 66: ...Proximity Sensor Typical Accuracy HARDWARE SPECIFICATION 66 ...

Страница 67: ...pper Working Range The dimensions are in millimeters Fingertips The standard fingertips can be used for many different workpieces If custom fingertips are required they can be made to fit the Gripper fingers HARDWARE SPECIFICATION 67 ...

Страница 68: ...Dimensions of the Gripper s finger in millimeters HARDWARE SPECIFICATION 68 ...

Страница 69: ...surface with low pressure compressed air 5 bar from a 5 cm distance For stronger contamination use isopropyl alcohol with a soft cotton swab to keep it clean Finger Thickness The default fingertips are considered while the finger thickness has been set and could not be changed in the software In case when custom fingertips are used the user should manually compensate for the difference in the fing...

Страница 70: ...current 6 25 A Compute Box Power output Device connector Minimum Typical Maximum Unit Output voltage 24 25 V Output current 4 5 4 5 A Peak currents 8 1 2 3 Compute Box I O interface Power Reference 24V GND Minimum Typical Maximum Unit Reference output voltage 24 25 V Reference output current 100 mA Output DO1 DO8 Minimum Typical Maximum Unit Output current altogether 100 mA Output resistance activ...

Страница 71: ...age level FALSE 18 24 30 V Input current 6 mA Input resistance 5 kΩ 8 2 Mechanical Drawings 8 2 1 Adapter Plate No adapter plate is required 8 2 2 Angle Bracket Distance from Robot flange interface to OnRobot Quick Changer All dimensions are in mm and inches HARDWARE SPECIFICATION 71 ...

Страница 72: ... Quick Changer Robot Side Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches NOTE The cable holder on the left side is only required with the long 5 meter cable HARDWARE SPECIFICATION 72 ...

Страница 73: ...8 2 3 2 Quick Changer for I O Robot Side Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches HARDWARE SPECIFICATION 73 ...

Страница 74: ...8 2 4 Tools 8 2 4 1 RG2 FT All dimensions are in mm and inches HARDWARE SPECIFICATION 74 ...

Страница 75: ... 2 Compute Box Compute Box Clip on Bracket optional All dimensions are in mm and inches 8 3 COG TCP COG TCP and weight parameters of the single devices without any mounting adapter HARDWARE SPECIFICATION 75 ...

Страница 76: ...ons for mounting Rotation of the QC and the tool whether the QC connector points to A B C D side of the Angle Bracket when mounted A B C D External mounting QC and tool are mounted outward robot arm Calculated see below Not calculated but possible to use Not calculated but possible to use Not calculated but possible to use HARDWARE SPECIFICATION 76 ...

Страница 77: ...se Not calculated but possible to use Not possible to use External mounting with QC connector on the A side Coordinate system TCP mm Center of Gravity mm Weight X 0 Y 55 Tool Z value Z 63 Tool Y value RX 90 RY 0 RZ 0 cX 0 cY 55 Tool Z value cZ 63 Tool Y value 0 207 kg 0 456 lb Example with an RG2 tool TCP mm Center of Gravity mm X 0 Y 55 200 255 Z 63 0 63 RX 90 RY 0 RZ 0 cX 0 cY 55 64 119 cZ 63 0 ...

Страница 78: ... Gravity mm Weight X 0 Y 12 Tool Z value Z 63 Tool Y value RX 90 RY 0 RZ 0 cX 0 cY 55 Tool Z value cZ 63 Tool Y value 0 207 kg 0 456 lb Example with an RG2 tool TCP mm Center of Gravity mm X 0 Y 12 200 188 Z 63 0 63 RX 90 RY 0 RZ 0 cX 0 cY 12 64 52 cZ 63 0 63 HARDWARE SPECIFICATION 78 ...

Страница 79: ...tructions for the OnRobot s End of Arm Tooling and the robot Failure to comply with this precaution can cause unexpected risks resulting in severe injury If you have questions regarding spare parts and repair please visit our website www onrobot com to contact us 9 1 RG2 FT WARNING Please clean the proximity sensor surface regularly with low pressure compressed air 5 bar from a 5 cm distance For s...

Страница 80: ...t URCap is installed on the robot 10 2 Tool Functions Are Not Available If the tool functions are not available grayed out in the program return to the Installation tab URCaps Device info and then back to the program 10 3 Error During Operation If an error occurs during operation try the following 1 Restart the robot and check the functionality 2 If the error is still present contact the distribut...

Страница 81: ...e warranty must be submitted within two months of the warranty default becoming evident Ownership of devices or components replaced by and returned to OnRobot A S shall vest in OnRobot A S Any other claims resulting out of or in connection with the device shall be excluded from this warranty Nothing in this warranty shall attempt to limit or exclude a customer s statutory rights nor the manufactur...

Страница 82: ...12 Certifications CERTIFICATIONS 82 ...

Страница 83: ...12 1 EMC CERTIFICATIONS 83 ...

Страница 84: ...12 2 Declaration of Incorporation 12 2 1 RG2 FT CERTIFICATIONS 84 ...

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