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2. License and Object of the Agreement.

License. Subject to the terms and conditions hereof, the Licensor grants to the End-User a personal, temporary, non-

exclusive, non-assignable and non-transferable and revocable license to use the Software in accordance with the terms

and conditions hereof.

Object of the Agreement. The object of this Agreement is the grant of a license for the use of software that enables con-

trol functionalities of UR’s Products devices or Licensor’s Products (the “Purpose”).

3. Software and Documentation.

Download. The Software shall be downloaded from the Licensor’s website or provided to the End-User through a USB flash

drive, according to the instructions set forth in the order summary sent to the End-User by email or by other means of com-

munication, as decided by the Licensor (the “Order Summary”). The download of the Software shall be made with the End-User’s

Designated Equipment.

Installation. The installation on the UR’s Product shall be done with a USB flash drive inserted into the UR’s Product. If the Soft-

ware was downloaded from the Licensor’s website, it shall be uploaded on a USB flash drive device for the purpose of installation

on the UR’s Product.

Utilisation. Two scenarios are possible according to the modalities set forth in the Order Summary:

a) The use of the Software is made with a Licensor’s Product. In this case, the End-User may start using the Software upon com-

pleted installation.

b) The use of the Software is made without a Licensor’s product. In this case, a Trial Period is granted to the End-User. At the end

of the Trial Period, which shall be set forth in the Order Summary, the use of the Software requires the software protection

dongle (the “Dongle”). The Dongle will be provided to the End-User for a fee as per section 5 of this Agreement, either by the

Licensor or by a Licensor’s Authorized Representative.

Documentation. The Licensor may provide, if applicable, all documentation containing the detailed specifications for operation

and use of the Software, which Software shall be used in accordance with such documentation. This documentation, if applic-

able, will be provided, wholly or in part, within (i) this Agreement, (ii) the Licensor’s Web site http://robotiq.com/ (iii) the

Licensor’s Products and the Purchase Agreement therewith, or (iv) any other agreement, document, support, whatsoever

decided by the Licensor.

4. Modifications and Upgrades. The Licensor shall be under no obligation to provide any upgrade, modification or patch to the

Software. However, the End-User shall be entitled to receive free of charge the upgrades and patches of the Software

provided by the Licensor if, at such time, the End-User is not in default in respect of any of its obligations contained herein.

Modifications that create new functionalities may be offered to the End-User at a price set by the Licensor at its sole dis-

cretion.

Such modifications, upgrades and patches of the Software shall be installed by the End-User itself by consulting the Licensor’s

website http://robotiq.com/ where a link to proceed to such installation will be made available thereof.

5. Fees. The End-User shall pay the Licensor for using the software as per the Order Summary. The fees shall cover upgrades

and patches of the Software provided by the Licensor if, at the time of the upgrade or patch, the End-User is not in default in

respect of any of its obligations contained herein.

New End-Users not using the Licensor’s Products will be entitled to a Trial Period, which shall begin on the date of the first install-

ation on the UR’s Product and which shall end after the Trial Period as determined in the Order Summary.

6. Maintenance. During the term of this Agreement, the Licensor will maintain the Software in an operable condition and will

make available any corrections and improvements as are generally incorporated in the Software by the Licensor without

additional charge to the End-User.

7. Title to Software. The licensed Software is composed of confidential data and trade secrets and is proprietary to and con-

stitutes trade secret information and intellectual property of the Licensor. Title and ownership rights to the Software, includ-

ing the intellectual property rights related thereto, shall remain with the Licensor. The End-User agrees to maintain the

confidential nature of the source code and libraries.

Содержание 56819B

Страница 1: ...Robotiq Finishing Kits Instruction Manual Instruction Manual robotiq com leanrobotics org Original Notice 2021 Robotiq Inc ...

Страница 2: ...orque script functions 31 4 4 ActiveDrive Toolbar 31 4 5 Find Contact Offset node 36 4 6 Apply Contact Offset node 42 4 7 Finishing Tool Control node 43 4 8 Path Recording node 45 4 9 Multipoint path node 49 4 10 Path Generator node 53 4 11 Insertion nodes 61 4 12 Find Surface Node 65 4 13 Force Control node 68 4 14 Force Event node 76 4 15 Collision Detection node 78 5 Specifications 80 5 1 Techn...

Страница 3: ...S Force Torque Sensor 87 7 Spare Parts Kits and Accessories 88 7 1 Surface Finishing Kits 88 7 2 Sanding Kits 88 8 Troubleshooting 89 8 1 Monitoring the Sensor state Surface Finishing and Sanding Kits 89 9 Warranty 90 9 1 Surface Finishing Kit and Sanding Kit 90 9 2 FT 300 S Force Torque Sensor 90 9 3 Exclusions 90 10 License Agreement 91 11 Contact 95 3 ...

Страница 4: ...Update of section 3 Installation Added section 4 2 Visible Nodes using Copilot Update of Section 4 4 ActiveDrive Toolbar Update of section 5 3 Mechanical specifications Added section 5 4 Center of mass and tool center point Update of section 8 Spare Parts Kits and Accessories 2020 04 16 Update of the Dynabrade finishing tool models compatible with the Finishing Kits 2020 03 02 Initial release Note...

Страница 5: ... without prior written consent from Robotiq Under copyright law copying includes translation into another language or format Information provided by Robotiq in this document is believed to be accurate and reliable However no responsibility is assumed by Robotiq for its use There may be some differences between the manual and the product if the product has been modified after the edition date The i...

Страница 6: ...ch as polishing and sanding 1 1 2 Sanding Kit The Sanding Kit is now part of the Robotiq Finishing Kits It includes the Robotiq Finishing Copilot software in a dongle for e Series an air control accessories kit and the Dynabrade orbital sander model 56819B and its bracket CB Series kits also include an FT 300 S Force Torque Sensor for force and torque data acquisition and in which the software is ...

Страница 7: ...e is the only contact point allowed between the Sensor and the robot for fastening the sensor to the robot Note that the inside ring must not touch the robot Info Details on the bolt pattern and dowel pin for the tool side and the robot side can be found in the Specifications section l M12 connector allows for both power and data transfer for the Sensor l Status LED provides visual information on ...

Страница 8: ...ure Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it l The Z axis passes through the center of the depression with positive direction in the tool direction l The X axis traces a symmetric line centered on the connector the positive direction points the opposite way away from the con nector l The Y axis uses the right hand thumb rule accord...

Страница 9: ...ection l Decommissioning Info The drawings and pictures in this documentation are representative examples and differences may exist between them and the delivered product 2 1 Warning Info Any use of the Finishing Kits in noncompliance of these warnings is inappropriate and may cause injury or damage Warning A force torque sensor used in human robot collaboration must not be considered a complete s...

Страница 10: ...sive atmospheres l Make sure no one is in the robot and or the Finishing Kit s path before initializing the robot s routine l Potentially explosive atmospheres can be caused by dust and fumes resulting from sanding or grinding Always use dust extraction or suppression systems which are suitable for the material being processed l All local safety measures and or laws on robot operation must be appl...

Страница 11: ...ion manuals to have more details on its intended use The unit may be used only within the range of its technical specifications Any other use of the product is deemed improper and unintended use Robotiq will not be liable for any damages resulting from any improper or unintended use 2 2 2 FT 300 S Force Torque Sensor l The Sensor is designed for data acquisition force and torque sensing for an end...

Страница 12: ...ce Finishing Kit for UR CB Series Surface Finishing Kit SURF FTS S CB UR KIT 1 x FT 300 S Force Torque Sensor Kit for UR FTS 300 S UR KIT 1 x Mounting Kit for Dynabrade Orbital Sanders SAND APL ROS 001 1 x Mounting Kit for Mirka Orbital Sanders SAND APL ROS 002 1 x Air Control accessories ACC AIR 001 3 1 3 Sanding Kit for UR e Series Sanding Kit SAND ES UR KIT 1 x Finishing Copilot dongle license ...

Страница 13: ...50NV MR 325CV 56854B 56819B 56830B 56863B 57404B 57814B MROS 325NV MROS 343CV MROS 383CV MROS 525CV MROS 550CV MROS 625CV MROS 650CV MRPS 300CV Info Availabilities of the different sanders may change without notice Please contact the sander s supplier for more information 3 2 Environmental and Operating Conditions 3 2 1 Surface Finishing Kit Sanding Kit Finishing Kits are designed for industrial a...

Страница 14: ...ations section for details on temperature compensation range 2Dust tight and protected against water jets 3IP Certification performed on the FT 300 S UR KIT FT 300 S OMRON KIT and FT 300 S TM KIT configurations only 3 3 Mechanical installation Choose the bracket corresponding to your finishing tool brand and align the dowel pin on the robot tool flange 3 3 1 Mounting the Mirka finishing tool on e ...

Страница 15: ...ade bracket on the robot tool flange and secure it with the M6 screws and the tooth lock washers 2 Align the Dynabrade finishing tool on the bracket 3 Fasten the M3 screw 4 Position the jaw correctly on the finishing tool Place the tooth lock washers and the M4 screws to fasten them 5 Fasten the set screw until you feel some resistance using a 3mm hex key The screw allows turning on the finishing ...

Страница 16: ...uires the preliminary installation of a Robotiq FT 300 S Force Torque Sensor The steps below describe the installation procedure of the Sensor and the kits Mounting the Mirka finishing tool 1 Place the provided dowel pin in the robot tool flange hole 2 Mount the mechanical coupling on your robot arm Align marked hole 1 with the dowel pin 3 Secure by inserting the M6 screws and tooth lock washers 4...

Страница 17: ...inishing tool on the bracket 8 Position the small jaws correctly on the finishing tool and insert the Belleville washers with the convex side upward and the M4 LHCS screws and fasten them loosely Do not tighten them 9 Position the large jaw on the finishing tool and fasten the Belleville washers with the convex side upward and the M4 LHCS screws tightly 10 Fully tighten the small jaw s M4 LHCS scr...

Страница 18: ...onvex side upward in a cross pattern to properly compress the O ring 6 Insert the dowel pin into hole 1 of the Force Torque Sensor and align the Robotiq Dynabrade bracket on the FT 300 S Sensor Secure it with the M6 screws and the tooth lock washers 7 Align the Dynabrade finishing tool on the bracket 8 Fasten the M3 screw 9 Position the jaw correctly on the finishing tool and place the tooth lock ...

Страница 19: ...ishing tool air inlet fitting 2 Connect your air supply line to port 1 3 Secure the valve to the controller using the valve magnetic clip Warning Strong magnets Hold the valve bracket firmly when attaching it to a surface to avoid damaging magnets 4 Plug the black wire in a 0 V output of the robot controller 5 Plug the red wire in a configurable output of the robot controller 19 ...

Страница 20: ... TMC M 1A Overvoltage protection Warning Maximum output voltage tolerance is 10 exceeding this limit 26 4 V DC could damage the Sensor Info Robotiq recommends the use of the following power supply TDK Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply DPP15 24 Wiring the FT 300 S Force Torque Sensor Power and communications are established with the FT 300 S Force Torque Sensor via a s...

Страница 21: ...r code for the respective cable type Info Power pins 2 3 are connected to the specified power supply Do not connect the gray wire Info RS 485 signal pins 1 4 5 are connected directly to a RS 485 USB converter or to a RS 485 RS 232 converter Wiring with USB to RS485 Converter When using a RS485 to USB converter the wiring must respect the figure below and subsequent directions GND 0V is wired to Se...

Страница 22: ...ort robotiq com URCap package installation Follow this procedure to install your Copilot URCap package l Make sure that your PolyScope version is up to date l Go to www support robotiq com select Browse by product click on your Robotiq product page and then Universal Robots l Click on Software Surface Finishing Kit software Copilot download the URCap zip and extract it on the root of a blank USB s...

Страница 23: ...s and browse for the URCap files l Once the file is selected tap the Open button l Tap the Restart button to complete the URCap install ation By doing so you accept the License agreement detailed in the URCap information textbox Info Note that the license dongle in e Series Kits must remain plugged in the controller 23 ...

Страница 24: ...e follow this procedure l On the teach pendant tap the triple bar icon l Select Settings l Select System in the navigation pane on the left l Select URCaps l In the Active URCaps box select the URCap to unin stall l Tap the minus button to uninstall the URCap l Restart PolyScope to complete the uninstallation pro cess 24 ...

Страница 25: ...robotiq com select Browse by product click on your Robotiq product page and then Universal Robots l Click on Software Surface Finishing Kit software Copilot download the URCap zip and extract it on the root of a blank USB stick l Insert the USB stick in the UR teach pendant or con troller l Go to Setup Robot l Tap URCaps Setup l Tap the plus button to add the Sensor s URCaps package l Open Robotiq...

Страница 26: ...Manual l Restart PolyScope to complete the URCap install ation By doing so you accept the License Agree ment that is detailed in the URCap Information text box l When PolyScope reopens the ActiveDrive toolbar will appear on the screen 26 ...

Страница 27: ...installation l Go to Setup Robot l Tap URCaps Setup l In the Active URCaps box select the URCap to unin stall l Tap the minus button to uninstall the URCap l Restart PolyScope to complete the uninstallation pro cess 27 ...

Страница 28: ... Robots e Series Universal Robots License Type FT 300 S Force Torque Sensor Finishing Copilot Collision Detection X X Find Surface X X Finishing Tool Control X X Force Event X X Force Control X X Insertion node X X Find Contact Offset X X Apply Contact Offset X X Path Generator X X Multipoint Path X X Multipoint Path with External TCP option X X Path X X Path with External TCP option X X Zero FT S...

Страница 29: ...layed To do so go to Installation URCaps Copilot select the Visible Nodes tab and select the nodes to display The system must be restarted to apply any change Fig 4 1 The Find Surface node is selected in the Visible Nodes menu UR e Series robot Fig 4 2 The Find Surface node is selected in the Visible Nodes menu UR CB Series robot 29 ...

Страница 30: ...enu UR e Series robot Fig 4 4 The Find Surface programing node is now part of the URCaps drop down menu UR CB Series robot Info An existing robot program containing nodes that are not currently displayed will still be executed without any issue Info The Visible Nodes option only applies to the Copilot programing nodes 30 ...

Страница 31: ...read ing in a given reference frame into another end effector to robot base and vice versa for example l T_from_to relative pose of the reference frame into which the wrench reading is converted l wrench_from wrench to transform in pose or list format Fx Fy Fz Mx My Mz Fig 4 5 Example of two reference frames for the express_force_in_frame T_from_to wrench_from function Info Although displayed in r...

Страница 32: ...activated the speed slider is automatically set at 100 Verify and adjust the speed slider to the desired speed so it has to be greater than 50 4 4 1 Overview Toolbar collapsed Tap the UR button to expand the toolbar Toolbar expanded l Tap the mode selector to get the Toolbar expanded green rectangle Features Primary icon Functionality name Description ActiveDrive Tap to toggle between the expanded...

Страница 33: ...ll translations and horizontal rotation twist are allowed Translation Translation motion only translations are allowed No rotation of the robot is possible in this mode Plane Plane motion horizontal translations and horizontal rotations twist are allowed no vertical motions are allowed Dominant l Works like the Translation mode but the robot will only move in one direction X Y or Z at a time l The...

Страница 34: ...e of the following situations occurs In such cases by tapping the ActiveDrive button the following messages will appear l Message l Solution l Starting ActiveDrive while an excessive force is applied to the tool l Determine if an external force is applied to the end effector If it is the case tap OK and move the robot away from the obstacle with Free Drive or Move tab or remove any external forces...

Страница 35: ...l Message l Solution l A program is already running The ActiveDrive Toolbar cannot be used while a program is running Stop the program to enable the ActiveDrive feature 35 ...

Страница 36: ...much a reference feature has been offset and stores this value which will be used by the Apply Contact Offset node URCaps Instructions On e Series robot On CB Series robot 1 Go to the Installation tab Features Point 2 Create a Feature Point then tap Set Point Caution The feature point can be located anywhere as long as the set coordinates remain within the robot reach at all times 36 ...

Страница 37: ...ture point you previously created For more information select the help button 6 Select Add translation or Add orientation to determine by how much the feature has been offset 7 For more details see following sections Tip Nodes must be inserted under the Apply Contact Offset node to be affected by the offset value 37 ...

Страница 38: ...Translation Fig 4 6 Select this button to insert a Translation node Fig 4 7 Translation node Fig 4 8 Add Translation program tree l Follow these steps to setup a Translation node 1 Select the Touch node from the program tree for detailed instructions 38 ...

Страница 39: ...ct Offset node section 5 Tap Retract_Point from the Robot Program move the robot to the required position and select Set waypoint 6 Return to the Find Contact Offset node in the program tree and tap 7 The following windows are displayed 8 Select Yes to save the offset value as the reference position which can then be used for programs under the Apply Contact Offset node Select No if you want to se...

Страница 40: ...he Universal Robots Installation tab As such this value can be reused either in the same robot program where it was first calculated or in a different robot program altogether 4 5 2 Add orientation Fig 4 9 Select this button to insert an Orientation node Fig 4 10 Orientation node 40 ...

Страница 41: ...entation node can be set up in the same way as a Translation node However the Orientation node contains two Touch nodes Configure each node as described in Add Translation section The two offset values will be used to calculate a rotation angle 41 ...

Страница 42: ...cording to the offset value of the Apply Contact Offset node In order to apply the contact offset to a move in the Move node select the same Feature as in the Apply Contact Offset node e g in the case presented above it would be Point_1 l Create your robot program with children nodes inserted under the Apply Contact Offset node Tip Reduce cycle time by inserting a Find Contact Offset node in the B...

Страница 43: ...trol node offers two commands Start tool and Stop tool l Select Start tool to turn on your tool when it comes into contact with the surface Select Stop tool to turn off your tool after it is no longer in contact with the surface l From the Program tab tap URCaps and Finishing Tool Control l Select the output to which your tool is connected in the robot controller 43 ...

Страница 44: ... the instructions displayed in the message window Finishing tool I O configuration or look at the following screenshot for reference You can enable e stops p stops and program stops with options from the following window Select the input and output ports to which your tool is wired then make sure to select Low when not running from the dropdown list Other settings will not enforce stops 44 ...

Страница 45: ...g gluing etc or more generally for any task otherwise requiring programming many waypoints The Path node offers options to modify the recorded path to change its speed and play the path backwards or relative to a variable starting position Two options are available with the Path Recording node Tool on robot or External tooling The following table explains the steps to follow l In the ribbon at the...

Страница 46: ...ooling i Path relative to an external tool center point TCP When the Tool on robot is selected l Check the Path relative to a feature box to choose between the Actual pose of the robot or go configure a Feature point in Installation tab Features Point When the External Tooling is selected l Configure the position and the orientation of your Tool Center Point TCP in Installation tab Features Point ...

Страница 47: ...visualization Path speed box Path options Warning section Displayed whenever a setting results in a duration different than the original path duration 4 8 1 Features Primary icon Description Starts and stops the path recording 47 ...

Страница 48: ...wards resulting in a path played back and forth If selected the path is modified to play at a constant tool speed linear speed at the tool center point With this option all pauses and hesitations dead times in the path will be removed If selected the path will be played relative to the actual robot position or to a feature previously set in the Installation tab when the program enters the path ins...

Страница 49: ...e teach pendant tap the New button to create a program or the Open button to load a program l Tap the URCaps button in the navigation pane on the left l Select Multipoint Path l Tap the Multipoint Path node in the robot program to edit it l You can configure your Multipoint Path by selecting the Tool on robot or the External Tooling options Fig 4 12 Multipoint Path options l If the Tool on robot o...

Страница 50: ...rnal Tooling option is selected you will have to create a feature point in Installation tab Features Point Fig 4 14 Multipoint Path node External tooling option Info Please note that a Multipoint Path parent node is always followed by a MoveJ command leading to the starting waypoint of the path sequence 50 ...

Страница 51: ... point the interface will look like this 1 Tap the Edit button to open the UR waypoint interface and adjust the position of the robot arm this works for every way point of the Multipoint Path 2 Tap the Delete button to cancel the waypoint deleting the starting waypoint will turn it to unassigned 3 Tap and hold the Move here button to make the robot arm travel to the corresponding waypoint 4 Tap th...

Страница 52: ...nts are generated on the bisector of each waypoint junction angle Curves are therefore tangent to those bisectors Step 2 l Using the Freedrive mode or the UR Move menu move the robot arm to the next desired position l Add another waypoint in the program tree by tapping the Add line or Add curve button Fig 4 15 Multipoint Path interface with Line Curve options Caution Adding several waypoints lines...

Страница 53: ...e Path Generator node within a Force Control node to make sure your robot applies a constant force along the process l To add a Path Generator node open the URCaps menu from your program 1 Choose Path Generator 2 On the command tab select the Tool on robot or the External Tooling option Tool on robot option l Check the Path relative to a feature box to choose between the Actual pose of the robot o...

Страница 54: ...s tab you have to choose the generated path that your finishing tool will follow Three options are available 1 Surface only 2 Perimeter only 3 Perimeter and surface l These options can be done either with Horizontal or Vertical passes l You can also check the Path relative to a feature box to choose between the Actual pose of the robot or go configure a Feature point in Installation tab Features P...

Страница 55: ...tool will end its trajectory It can end on i Point 4 ii Point 3 iii Spacing best fit in this case the Path generator algorithm will determine the number of passes necessary to keep the space as close as possible to the setted Spacing value B With this option the path will end on Point 2 or 4 4 Add circular weaving this option enable the fin ishing tool to do circular weaving during the pro grammed...

Страница 56: ...th of the piece to be finished can be Fixed or Dynamic l Dynamic this option allows to have variant size parts without any recalibration l The Point 1 is the only one to be fixed at the same position l Points 2 3 and 4 can be dynamically adjusted to the part dimensions Please refer to the pop up information to follow the steps l You can also create UR variables Program Advanced Assignment Tip To o...

Страница 57: ...hat represent the corners of your surface 2 Each point has its own node Choose Set Way point to define your waypoint bring the robot to where your corner is 3 Make sure the corner you are teaching fits the corners sequence on the illustration 4 When it is defined you can always move to the point click on move here button that will be avail able or change the waypoint click on set way point 5 Perfo...

Страница 58: ...hold the Hold to test button that will be available to try out and execute the trajectory without having to run the entire program l Note this will make your robot move make sure its workspace is clear Tip To finish complex shapes it is possible to put one path generator node after the other If the first one s end point is the second one s starting point both paths will be followed by the robot wi...

Страница 59: ...aching fits the corners sequence on the illustration 7 When all corners have been defined go back to 6 Point 8 You can edit parameters speed and distance between passes 9 You can also choose the final point of your trajectory o Note the spacing you enter will not be applied exactly it will be rounded to fit the final point you decided 10 Tap and hold the Hold to test button that will be avail able...

Страница 60: ...e corner you are teaching fits the corners sequence on the illustration 7 When all corners have been defined go back to 9 Point 8 You can edit parameters speed and distance between passes 9 You can also choose the final point of your tra jectory o Note the spacing you enter will not be applied exactly it will be rounded to fit the final point you decided 10 Tap and hold the Hold to test button tha...

Страница 61: ...h thus allowing the human to detect any resistance when trying to insert a pin in a hole for instance To a certain extent Copilot gives that kind of sensitivity to the end effector How to add an Insertion node l On the teach pendant tap the New button to create a program or the Open button to load a program l Tap Program URCaps l Select Insertion l Tap the Insertion node in the robot program to ed...

Страница 62: ...d Features Spiral The Spiral child node is packaged with an On error condition line to be populated with a program instruction when if the error condition occurs The potential sequence after the Spiral instruction is followed by a program halt by default 1 Teach position button Destination Tapping this button saves the object s destination as a waypoint in the robot program 2 Reference frame dropd...

Страница 63: ...r condition Textbox for the user to enter the maximum radius of the spiral considering that no path of least resistance has been found Default values and units of measurement Parameter Unit of measurement Default value Reference frame Direction N A Tool Axis Direction N A Z Speed mm s 5 Force initiating spiral move N 10 Force initiating insertion N 3 Radius increment per turn mm 0 7 Maximum radius...

Страница 64: ...ers the rotation move after the part tool has established contact with the mating part surface 7 Rotation speed parameter Textbox for the user to enter a speed value for the rotational indexing motion 8 Maximum torque parameter Textbox for the user to enter a torque threshold value used to prevent potential collision with objects during the rotational motion 9 Enable peck mode box Box that enables...

Страница 65: ...on Textbox for the user to enter the maximum distance value which upon being reached means the force threshold has never been reached in the linear motion 4 12 Find Surface Node The Copilot software package includes the Find Surface node which is a great tool for machine tending and various other applications that require repeated accurate positioning of objects The default parameters of the funct...

Страница 66: ...en ticked its main function is to facilitate the programming and improve the user experience 6 Maximum distance traveled Stop condition Textbox for the user to enter the maximum distance value which upon being reached means the force threshold has never been reached in the linear motion 7 Insert instruction textbox Checkbox that inserts the corresponding stop condition in the robot program when ti...

Страница 67: ...Fig 4 17 Find Surface node with stop condition s 67 ...

Страница 68: ...the user shall record a Robotiq Path emulating the desired Move In a situation where the user wants to make contact with a surface in accordance with the user defined settings a Wait instruction can be inserted as child of the Robotiq Force Control The Force Control node is primarily meant to be used with a Robotiq Path node With the various user defined settings available operators can use a forc...

Страница 69: ... an axis lower three options 2 Force Torque depending on which options were checked at step 1 the corresponding textboxes here should be filled with the desired force torque values a Force values applied are in newtons N the range allowed goes from 150 to 150 N b Torque values applied are in newton metre Nm the range allowed goes from 50 to 50 N Info Tapping the text boxes brings up a numpad used ...

Страница 70: ... deviation range that goes from 50 mm to 50 mm along all axes l The end effector will systematically point towards its Z axis l The end effector will not rotate around Rx Ry and Rz no torque feeding l The end effector will be moderately flexible to move along the X and Y axes l The movements along the X Y and Z axes will be limited to 50 mm and 50 mm from the command position Fig 4 19 Deviation ra...

Страница 71: ... adaptive stiffness upon repeated contact with a surface on CB Series Current vs targeted position From the Force Control node you can choose to either l Apply force at the current position l Apply force based on a targeted position 71 ...

Страница 72: ...Robotiq Finishing Kits Instruction Manual Fig 4 21 Force control for e Series Fig 4 22 Force control for CB Series 72 ...

Страница 73: ...rt that will be processed within the Force Control node l Use the current position option when your defined trajectory may not resemble to the actual part that is being processed Motion Frame From the Force Control node it is possible to choose your feature among l Tool l Base l Motion Frame 73 ...

Страница 74: ...rection the Z axis is perpendicular to the X axis and is close to the robot s Z axis Test The Test button applies the user defined settings of the Force Control node to the sensor therefore moving along around the corresponding axes if the control had been enabled for the latter regardless of other instructions entered before or after the Force Control node in the program tree 74 ...

Страница 75: ...l You can also test in real time your preset values by holding the Test button for the Tool and the Base features 75 ...

Страница 76: ...Wait for Force The Wait for force feature is used to detect a specific force or torque inside a Force Control node Click Detection The Click Detection feature is used to detect a drop that is followed by a rise of a force or a torque 4 14 1 Features Click Detection The Click Detection feature monitors forces and torques throughout the nodes placed within it This feature senses if a drop in the for...

Страница 77: ...t for Force The Wait for Force feature is used to detect a specific force or torque inside a Force Control node The program waits until the force or torque is reached prior to the program continuation The values are defined by the Force Control s force and torque parameters To be sure the program is not incessantly running a Timeout option is available 77 ...

Страница 78: ...ogram or the Open button to load a program l From the Installation tab 1 Go to the Installation tab and tap the URCaps submenu 2 Select Copilot 3 Tap the Configuration tab to edit it l From the Program tab l Tap the URCaps button in the navigation pane on the left l Select Collision Detection l Tap the Collision Detection node to edit it You can either choose to halt stop or suspend pause the prog...

Страница 79: ... program start On the other hand the Collision Detection node in the Program tab starts a thread that runs in parallel with the rest of the robot program If the Stop monitoring option is selected in the Collision Detection node the thread stops and the program continues without monitoring the force or the torque 79 ...

Страница 80: ...ails the technical dimensions of the sensor l Section 5 3 details the mechanical specifications l Section 5 4 specifies the center of mass and tool center point l Section 5 5 covers signal specifications data acquisition l Section 5 6 specifies electrical rating Info Reminder Measures are in millimeters 5 1 Technical Dimensions of the Finishing Kits Fig 5 1 Technical dimensions of Mirka s bracket ...

Страница 81: ...Fig 5 2 Technical dimensions of Dynabrade s bracket 81 ...

Страница 82: ...Robotiq Finishing Kits Instruction Manual 5 2 Technical Dimensions of the FT 300 S Force Torque Sensor Fig 5 3 Robotiq FT 300 S Sensor general technical dimensions 82 ...

Страница 83: ... 221 kg 0 50 lb 0 420 kg 0 93 lb 5 3 2 Mechanical Specifications of the FT 300 S Force Torque Sensor Info Reminder all units are within the metric measurement system SPECIFICATION VALUE Approximate weight 442 g Overload capacity A combined load exceeding 500 of the measuring range will permanently damage the Force Torque Sensor Fx 300 Fy 300 Fz 300 Mx 30 My 30 Mz 30 500 Outside diameter Ø 89 mm Ro...

Страница 84: ...overload capacity will permanently damage the sensor Sensor Measuring range Overload capacity1 FT 300 S 300 N 1500 N 500 2 1Overload capacity with all axes combined 2Maximum load expressed in of measuring range The overload capacity given includes forces and torques in all 3 axes To get an approximation of the total load these formulas must be used l For the FT 300 S Fx 300 Fy 300 Fz 300 Mx 30 My ...

Страница 85: ...8 Nm 0 02 Nm Mz 0 12 Nm 0 01 Nm External noise sensitivity2 Immune Data output rate 100 Hz Temperature compensation3 15 to 35 C 1Signal noise is the standard deviation of the signal measured over a period of one 1 second 2Under normal operating conditions 3Specifications included in the Signal Specifications section may vary outside of the temperature compensation range Table 5 1 Signal Specificat...

Страница 86: ...second In order to use that signal noise information three times the standard deviation given must be used According to the normal distribution three times the standard deviation will cover almost all values possible 99 7 Info Noise is an unwanted and unpredictable alteration to a signal It may come from electrical or electromagnetic sources and degrades the quality of the Sensor s signal 5 6 Elec...

Страница 87: ...or will be done by Robotiq 6 2 1 Maintenance Intervals Operation Daily Weekly Semiannually Zero calibration X1 Sensor cleaning Dirty conditions Normal conditions Periodic inspection X2 1 Zero calibration should be integrated into the program routine This will compensate for the tool weight for its current orientation the effect of the attachment mechanisms on the Sensor and any other factors which...

Страница 88: ...l Mounting kit for Dynabrade Orbital Sanders SAND APL ROS 001 l Mounting kit for Mirka Orbital Sanders SAND APL ROS 002 l Air control accessories ACC AIR 001 SURF FTS S CB UR KIT 7 2 Sanding Kits Item Description Ordering Number Sanding kit for UR e Series l 1 x Finishing Copilot dongle license CP FIN ES UR KIT l 1 x Air Control accessories ACC AIR 001 l 1 x Sander Mounting Kit Dynabrade SAND ROS ...

Страница 89: ...on in the ribbon at the top of the screen 2 Select the URCaps menu in the navigation pane on the left 3 Tap Copilot 4 Tap the Dashboard tab Info If needed the user can tap the About tab to get further information regarding the force torque sensor Refer to the sanding tool s manuals for troubleshooting regarding the sander Info For FT 300 S Force Torque Sensor troubleshooting instructions please re...

Страница 90: ...q also warrants that this equipment will meet applicable specifications under normal use Info For more details about the FT 300 S Force Torque Sensor warranty please refer to the Copilot Instruction Manual at support robotiq com 9 3 Exclusions Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring an obligation to make any chan...

Страница 91: ...o its customers for the purposes mentioned in sub sec tion 2 2 hereof including their modifications and upgrades and their related materials 3 Licensor means Robotiq inc a corporation incorporated under the laws of Quebec having its registered office at 500 966 chemin Olivier Lévis Québec Canada G7A 2N1 which specializes into the conception advanced man ufacturing and sale of robotic products the ...

Страница 92: ...such documentation This documentation if applic able will be provided wholly or in part within i this Agreement ii the Licensor s Web site http robotiq com iii the Licensor s Products and the Purchase Agreement therewith or iv any other agreement document support whatsoever decided by the Licensor 4 Modifications and Upgrades The Licensor shall be under no obligation to provide any upgrade modific...

Страница 93: ...possibility of such damages In any case the Licensor s entire liab ility under any provision of this agreement shall be limited to the amount actually paid in respect of the Licensor s products purchased by the end user pursuant to a purchase agreement 12 Indemnification The End User shall indemnify and hold the Licensor harmless from any liability loss claim and from any judgment damage and cost ...

Страница 94: ...all be interpreted as if this part was never part of this Agreement l The provisions of this Agreement are for the benefit of the Licensor and its officers directors employees agents licensors and suppliers Each of these individuals or entities shall have the right to assert and enforce those provisions directly against the End User on its own behalf This Agreement is also for the benefit of and b...

Страница 95: ...tside US and Canada Technical support and engineering option 3 Sales option 2 Head office Robotiq 966 chemin Olivier Suite 500 St Nicolas Québec G7A 2N1 Canada Where automation Pros come to share their know how and get answers dof robotiq com Robotiq Finishing Kits Instruction Manual 95 ...

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