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4. Control

4.1. Overview

This section introduces nodes that have been developed to be used with the CNC Machine Tending Kit. For details on basic nodes
developed for the hardware included in the CNC Machine Tending Kit, refer to the applicable Instruction Manual of Hand-E, Force
Copilot or the Wrist Camera.

Advanced user can learn more on communicating with Hand-E and controlling it by referring to the device Instruction Manual,
section

For typical use cases, refer to the current section.

Control using Universal Robots packages

Robotiq provides Universal Robots packages to be used with URCaps (this requires controller version CB3 or higher).

See section Control on page 32 for instructions on how to use the Gripper URCap; this method will provide you with a Gripper Toolbar
to test and a Gripper node to program via the URCaps tab.

4.2. Controlling your Hand-E grippers

4.2.1. Contents of the URCap

The URCap package contains many features to program and control the gripper:

l

The Gripper toolbar is automatically installed with the gripper URCap. It allows jogging and testing of the gripper. It is a great tool to
try grasps with the gripper while programming.

l

The Gripper node is used to add a gripper command. It can make the gripper move to a specific opening, grasp an object and
modify the speed and applied force.

Overview

Single Gripper

Fig. 4-1: Gripper Dashboard (steps highlighted)

Robotiq CN C M achine Tending Kit Instruction M anual

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Содержание CNC Machine Tending Kit

Страница 1: ...Robotiq CNCMachine Tending Kit for e SeriesUniversal Robots Instruction Manual CNC Machine Tending Kit robotiq com leanrobotics org Original Notice 2019 Robotiq Inc...

Страница 2: ...Robotiq CNC Machine Tending Kit Instruction Manual 2...

Страница 3: ...ing Conditions 20 3 4 MechanicalInstallation 22 3 5 Software Installation 24 4 Control 32 4 1 Overview 32 4 2 Controlling yourHand Egrippers 32 5 Machine Tending Copilot Functionalities 51 5 1 Find Co...

Страница 4: ...eshooting 133 11 1 Troubleshooting GrippersUsing LED Colors 133 11 2 Troubleshooting GrippersUsing the TeachPendant 133 11 3 Troubleshooting the Wrist Camera Using LED Colors 133 12 Hand E Warrantyand...

Страница 5: ...tables throughout the Instruction Manual l Section Cam Locate Node l Renamed subsection Settings to Camera Locate Settings l Added typical use tips for options under the Camera Locate Settings window...

Страница 6: ...for sale or not 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 believe...

Страница 7: ...he current instruction manual includes basic information on all previously mentionned devices Info This manual uses the metric system Unless otherwise specified all dimensionsare inmillimeters Caution...

Страница 8: ...ou can customize fingers and fingertips Mount custom fingers on racks and fingertips on fingertip holders 1 1 2 Object picking The Hand E gripper has a single actuator for opening and closing the fing...

Страница 9: ...ection bit 0 or 1 When an object is detected the gripper no longer increases the force exerted on the object If the object is being dropped the gripper automatically exerts more force until the object...

Страница 10: ...truction Manual all refer to the Robotiq Wrist Camera while the term Vision and Vision System all refer to the Robotiq Wrist Camera Vision System for Universal Robots The Vision System uses the Roboti...

Страница 11: ...on Wrist Camera as well as in the product Instruction Manual 1 4 2 Snapshot Position and Workspace The figure below illustrates the various terms used in the following Instruction Manual to describe t...

Страница 12: ...n object The illustration below represents the object location process For more details see the Wrist Camera Instruction Manual section Programming with the Camera Locate node Fig 1 10 Diagram of the...

Страница 13: ...Robotiq CNC Machine Tending Kit Instruction Manual Fig 1 11 Wrist Camera hardware 13...

Страница 14: ...70mm to 6 LED l Diffuse white light l Automatic control high flex 1 0 meter pigtail cable l USB 2 0 l 24V DC power tool flange ISO 9409 1 2004 4 X M6 50mm bolt pattern l Wrist Camera is mounted on the...

Страница 15: ...rate devices which are damaged or which have parts missing l Do not supply alternative current to devices l Secure all cables and cords both at device level and along the robot arm l Follow recommende...

Страница 16: ...ce feedback to get real world data input and modifies robot programs accordingly The unit should be used exclusively within the range of its technical data Any other use of the product is deemed impro...

Страница 17: ...erify that your package contains all parts noted in the scope of delivery l Have the required parts equipment and tools listed in the requirements readily available Warning During installation l Meet...

Страница 18: ...ery of CNC RWC ES UR KIT l Combo of two Hand E for URe Series CUR ES DUAL HND l two Hand E grippers fitted with flat rubber NBR overmolded fingers l two gripper couplings l one 90 degree adapter plate...

Страница 19: ...chine Tending Kit Part Toolsrequired Hand Egripper l 4mm hex key gripper to coupling l 2 5mm hex key some fingertips Dual Hand Eadapter plate l 4mm hex key dual plate to tool flange Wrist Camera optio...

Страница 20: ...122 F Humidity non condensing 20 80 RH Maximum vibration storage transit 5G Maximum vibration operating 2G IP Rating IP 67 Table 3 1 Environmental and operating conditions of the Hand E gripper 3 3 2...

Страница 21: ...thers l Lenses must be free from dust soot and water l Environment must be free from powerful electromagnetic inter ference l Environment must be free from corrosive or explosive liquids or gases Tabl...

Страница 22: ...stalling your CNC Machine Tending Kit see figures in this section If your CNC Machine Tending Kit includes the Wrist Camera skip to section Assembling the CNC Machine Tending Kit withthe Wrist Camera...

Страница 23: ...t with the Wrist Camera 1 Place the Wrist Camera on the tool flange Align with the dowel pin already installed on the Wrist Camera 2 Insert a dowel pin into the top part of the Wrist Camera then place...

Страница 24: ...s Extender on the gripper rack then install the second finger on the Fingertips Extender 3 5 Software Installation 3 5 1 Installing URCap files Robotiq provides you with Universal Robots URCap package...

Страница 25: ...x x to install a URCap on your Teach Pendant then select Open 7 Repeat the previous step and install the second URCap 8 optional Install the Wrist Camera URCap 9 Once a URCap has been installed it wi...

Страница 26: ...number to your gripper Note this number somewhere it will be required for your second gripper then select Activate 4 Disconnect the gripper cable from the M8 splitter 5 Connect the second gripper to...

Страница 27: ...terpoint and massforkits 3 In the dropdown list under the Tool Center Point section select your first gripper Enter its X Y and Zcoordinates as specified under Gripper 1 in the same table as before 4...

Страница 28: ...nder or use custom fingers payload and center of gravity may differ from those in the table For more data on hardware setups see table 6 2 2 Center of mass and tool center point in the Hand E Instruct...

Страница 29: ...cts means those products developed by URin the course of the UR s Business g Licensor s Authorized Representatives means and includes the Licensor and Licensor s authorized vendors resellers distribut...

Страница 30: ...PARTICULARPURPOSE UNLESSOTHERWISE STATED HEREIN LICENSORAND LICENSOR SAUTHORIZED REPRESENTATIVESDO NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE Software WILL MEET THE END USERREQUIREMENTSORTHAT TH...

Страница 31: ...provision or right Neither the course of conduct between the parties nor trade practice shall act to modify any provision of this Agreement d The Licensor may assign its rights and duties under this A...

Страница 32: ...ller version CB3 or higher See section Control on page 32 for instructions on how to use the GripperURCap this method will provide you with a Gripper Toolbar to test and a Gripper node to program via...

Страница 33: ...ects or using multiple Grippers at the same time tick the Limit grippercurrent box a Limits the current at 600 mA for a single Gripper b Limits the current at 450 mA for each Gripper connected in a mu...

Страница 34: ...ate it to the corresponding Gripper E Open Tapping this button sends an emergency open command to the corresponding Gripper whether it is activated or not E Close Tapping this button sends an emergenc...

Страница 35: ...pplicable gripper Tapping the Calibrate button from the Calibration menu launches the Calibrationwizard Follow instructions onscreen and calibrate Tip Depending on the PolyScope settings defined by th...

Страница 36: ...l stroke from the fully closed to the fully open position Fig 4 6 Single Gripper calibrated Features Icon FunctionalityName Description Calibration After selecting the Gripper in the left pane of the...

Страница 37: ...nging from 1 to 4 Fully closed dimension table header Visual aid above the fully closed dimensions in the Calibration menu Fully open dimension table header Visual aid above the fully open dimensions...

Страница 38: ...alled with the URCap package The Gripper toolbar can be installed and used without the URCap package please refer to the Control for information on how to install the toolbar and the driver package wi...

Страница 39: ...cy commands use very low speed and force settings l Tap the Activate button to enable the Gripper Single Gripper Caution If the Gripper has not been calibrated at this point the Open and Close values...

Страница 40: ...greyed out the functionality is not available UR Menu Gripper Toolbar Tap to toggle between the expanded blue and collapsed black Gripper Toolbar Activate Tap to activate the Gripper The Gripper will...

Страница 41: ...fully open the Gripper Close Tap to fully close the Gripper Requested position Shows the actual position of the Gripper according to the system of units defined in PolyScope imperial vs metric If the...

Страница 42: ...3 Tap the URCapsmenu in the navigation pane on the left 4 Tap the Gripperbutton 5 Select the node in the robot program and tap the Command tab 6 Tap the Edit action button to edit the node s parameter...

Страница 43: ...ippers e g Grippers 1 2 3 4 When the Gripper action is set to close a green Close icon appears When the Gripper action is set to open a green Open icon appears Features Icon FunctionalityName Descript...

Страница 44: ...using the Gripper toolbar before running Gripper commands Gripper action undefined Gripper action undefined Please edit action When creating a new node all action parameters are undefined Tap the edi...

Страница 45: ...ar Starting from Gripper URCap version 1 0 2 the gripper activation script command rq_activate or rq_activate_and_wait must be preceded by the reset command rq_reset This will force the gripper s acti...

Страница 46: ...for the selected Gripper node Requested speed Shows the speed requested for the selected Gripper node Use the Plus and Minus icons to modify Requested force Shows the force requested for the selected...

Страница 47: ...add and edit a Grip Check node 1 On the teach pendant at the top of the screen tap the Newicon to create a program or the Openicon to load a program 2 Select Program The Program window will display 3...

Страница 48: ...node in the Command tab brings up the option to add an Else instruction to the program tree About In this window the user can access information such as the Gripper s hardware software and firmware v...

Страница 49: ...or rq_activate_and_wait must be preceded by the reset command rq_reset This will force the gripper s activation routine Thus if the gripper was already activated it will activate again Gripper Program...

Страница 50: ...C Machine Tending Kit Instruction Manual Tip Use the gripper_tutorial urp to learn how to program the Gripper using nodes and advanced functions You can copy the tutorial and start a new program based...

Страница 51: ...Nodes Features CB SeriesUniversal Robots e SeriesUniversal Robots License Type FT 300 Force Torque Sensor Force Copilot Machine Tending Copilot Finishing Copilot Collision Detection X X X X Find Surf...

Страница 52: ...duced with the Machine Tending Copilot l Find Contact Offset l Apply Contact Offset The Find Contact Offset and Apply Contact Offset nodes integrate the Multipoint Path and Find Surface nodes as part...

Страница 53: ...ithin the robot reach at all times 3 Insert a Find Contact Offset node 4 Tap Teach the Touch sequence program 5 From the Feature to offset dropdown list select the feature point you pre viously create...

Страница 54: ...Robotiq CNC Machine Tending Kit Instruction Manual 5 1 1 Add translation Fig 5 1 Select this button to insert a Translation node Fig 5 2 The Translation node Fig 5 3 Add Translation program tree 54...

Страница 55: ...see section Find Surface 5 Tap Retract_Point from the Robot Program move the robot to the required position and select Set waypoint 6 Tap 7 The following window is displayed 8 Select Yes to save the...

Страница 56: ...Robotiq CNC Machine Tending Kit Instruction Manual 5 1 2 Add orientation Fig 5 4 Select this button to insert an Orientation node Fig 5 5 The Orientation node 56...

Страница 57: ...e as the one used by the Find Contact Offset node your previously executed l When you select a feature point to offset and a green checkmark is shown this means that moves will be executed according t...

Страница 58: ...e a program or Open to load a program 2 From the left navigation pane tap URCaps Multipoint Path 3 Tap the Multipoint Path node in the Robot Program to edit it Fig 5 7 Multipoint Path node empty Fig 5...

Страница 59: ...waypoint Deleting the starting waypoint unassigns it 8 Tap and hold Move here see 3 to move the robot to a waypoint 9 Tap Add line see 4 to link current waypoint to the next waypoint via a straight li...

Страница 60: ...cal waypoints Fix this by editing each created waypoint and adjust its position Tip You can toggle at any time between the Line to waypoint and Curve to waypoint options Select the waypoint in the pro...

Страница 61: ...box Box that inserts a Zero FT Sensor command right before the Find Surface instructions 3 Advanced parametersbox Box that expands the advanced parameters menu when ticked 4 Motionspeed parameter Text...

Страница 62: ...l Parameter Unit of measurement Default value Direction relative to the tool N A Z Motion speed mm s 5 Maximum distance traveled Stop condition mm 1 00 Force threshold Stop condition N 1 0 Fig 5 12 Th...

Страница 63: ...Recording by hand guiding the robot while recording a path Info The Force CopilotURCap contains the ActiveDrive Toolbar Therefore the toolbar is automatically installed with the URCap Package The robo...

Страница 64: ...fter 30sof inactiv ity When started ActiveDrive allowsyou to move the robot freely by applying forceson robot send effector Thisisdif ferent from the Free Drive fea ture on the robot where you can mov...

Страница 65: ...Control Tap thisbutton to stop the robot from drifting resetsthe sensor soffset Speed Motion speed control is toggled between fast and slow allowing precise movement in slow motion The force torque s...

Страница 66: ...ine if an external force is applied to the end effector If it is the case tap OKand move the robot away from the obstacle with Free Drive or Move tab or remove any external forces and start ActiveDriv...

Страница 67: ...o zero the force and torque values of the Force Torque Sensor l The get_sensor_Fx get_sensor_Fy get_sensor_Fz get_sensor_Mx get_sensor_My get_sensor_Mz functions allow the user to assign the sensor va...

Страница 68: ...ames for the express_force_in_frame T_from_to wrench_from function Info Although displayed in realtime in the Variables tab the force and torque values are also displayed in the Force Copilot dashboar...

Страница 69: ...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 Howto add and record a path l In the rib...

Страница 70: ...the speed slider a warning message appearsand the path time and speed information isupdated 5 6 2 Features Primary icon Description Startsand stopsthe path recording Pressand hold in order to move the...

Страница 71: ...K or keep the previously recorded path by tapping Cancel 5 7 Insertion Node The Force CopilotURCap includes Insertion nodes which can be used to perform spiral rotational and linear movements to inser...

Страница 72: ...g a contact established between the object grasped by the end effector or the effector itself and the corresponding mating part or surface a rotational motion is engaged on a specific plane to find th...

Страница 73: ...riggers the spiral move after the part tool has established contact with the mating part surface 7 Force initiating insertionparameter Textbox for the user to enter a force drop value indicating that...

Страница 74: ...xpands the advanced parameters menu when ticked 5 Linearspeed parameter Textbox for the user to enter a speed value for the approach motion towards the destination 6 Force initiating rotationparameter...

Страница 75: ...measurement Linear Insertion Table 5 5 Describing options available to the Linear insertion 1 Reference frame dropdown menu Direction Menu used to select the frame according to which the tool will mo...

Страница 76: ...in the robot program to edit it Warning URMove nodes MoveL MoveJ MoveP and Force nodes cannot be executed as children of the Robotiq Force Control node Tip Where a URMove node would normally be used...

Страница 77: ...sired 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 Ta...

Страница 78: ...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 Zaxes will be limited to 50 mm and 50 mm from the command posit...

Страница 79: ...meets adaptive stiffness upon repeated contacts with a surface Current Position and Targeted Position From the Force Control node you can choose to either l Apply force based on a Targeted position l...

Страница 80: ...tion and when to avoid using it Tip l Use the targeted position option when your defined trajectory is close to the actual part that will be processed within the Force Control node l Use the current p...

Страница 81: ...The X axis represents the motion direction the Z axis is perpendicular to the X axis and is close to the robot Zaxis Fig 5 23 Path example Testing a Path The Test button see figure MotionFrame applie...

Страница 82: ...it forforce function 2 Clickdetection function Wait forforce The Wait for force feature is used to detect a specific force or torque inside a Force Control node ClickDetection The Click Detection feat...

Страница 83: ...aits 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...

Страница 84: ...spend pause the program when a collision is detected The forces and torques monitored in the collision detection node are the ones measured by the embedded sensor Thus any forces or torques applied to...

Страница 85: ...a the robot program enters in the Cam Locate node and executes all command lines within it After teaching the object within the Cam Locate node you may continue the programming by using either a linea...

Страница 86: ...nd reused in following runs Halves cycle time Ambient lighting must be stable Disabled Exposure must be set at every run More robust part detection under variable lighting con ditions Table 6 1 Fast c...

Страница 87: ...next object are carried out only once the robot program exits the loop and continues When the Cam Locate node is run once again the robot program re enters the loop locating an object by using the pic...

Страница 88: ...thin the Camera Locate node You can use that reference feature inside the Camera Locate node within Move commands of the robot To do so l Insert a Move node l In that node go to the Command tab l Sele...

Страница 89: ...z in the robot base reference frame This variable is updated each time the program goes within a Cam Locate node thus every time an object is detected regardless of how many Cam Locate nodes are in th...

Страница 90: ...nd point the object on the workplane The height value of the object on the workplane should not be taken into account the TCP might be directly on the object when moving it to the object_location pose...

Страница 91: ...f an horizontal plane CB Seriesrobot program is illustrated Fig 6 12 Program example Place the TCP 20 cm above the detected object in case of an horizontal plane e Seriesrobot program is illustrated I...

Страница 92: ...Tap Cam Locate Command Test Modify see Fig 6 13 Fig 6 13 The taught object model can be viewed from the Command tab of a Cam Locate node l Objects can be retaught To do so tap The Configure Model win...

Страница 93: ...Robotiq CNC Machine Tending Kit Instruction Manual displayed to prompt you to confirm this new position To confirm tap Define A thumbnail of the object appears under Tap to exit the wizard 93...

Страница 94: ...a variable position to enter a Camera Locate node For instance it can also be used to teach only one snapshot position and object to manage parts in stacked trays In order to do so allow the robot to...

Страница 95: ...Robotiq CNC Machine Tending Kit Instruction Manual Fig 6 14 Program example using Universal RobotsCB Series models Fig 6 15 Program example using Universal Robotse Series models 95...

Страница 96: ...le after using an object using the Parametric method When you tap some nodes are inserted in your robot programunder a MoveL node as in the structure shown below l MoveL l Approach Point l Pick Point...

Страница 97: ...rience using Auto Pick modify Teach Pendant options under Installation URCaps Camera Configurations Check the following radio buttons l Enable automatic pick points generation l Disable pick points ge...

Страница 98: ...zard the robot arm is already in the Snapshot position location You can simply add a MoveJ command before the Cam Locate node and set it to the location the robot arm is at see Snapshot_pos_1 from the...

Страница 99: ...e Cam Locate loop can operate on two different modes Processall When this option is selected the Wrist Camera takes one pitcture and finds objects their number can be changed when teaching the object...

Страница 100: ...wizard is the position of the object to be used for the relative robot motion programming Once the position is saved do not move the object to ensure proper robot motion programming within the Cam Lo...

Страница 101: ...object_location pose is relative to the robot s base frame Info object_location is a variable containing the detected object s position and orientation relative to the base reference frame The orient...

Страница 102: ...alibration has been performed points downwards from it into the workplane Info If you move the robot s TCP to the object_location pose the TCP will go and point the object on the workplane The height...

Страница 103: ...Modify l To modify the saved object position place the object in the desired position Test is with the Test locating object button and when in the desired position tap Define new position The positio...

Страница 104: ...that the original snapshot position by entering the script command ignore_snapshot_position True You also need to edit the snapshot_position_offset pose variable This variable contains the pose offset...

Страница 105: ...ane can be slightly different depending on where the calibration has been performed Be aware of this when programming a Cam Locate node relative to another one Settings You can configure your Cam Loca...

Страница 106: ...ations to improve codes readings l Code must be entirely visible in the field of view of the Wrist Camera l However code should not fill the field of view entirely Some whitespace must be left around...

Страница 107: ...The window Select Code Type is displayed Tap the applicable code type To navigate pages for additional code types use and 4 Put code on workplane then tap or retry by tapping if you are not satisfied...

Страница 108: ...a program Its value is stored in variable rq_code_string found in the Variables tab 6 2 4 StringsData Stored in CSV files Fig 6 29 Each line represents one code that was read Data is presented in the...

Страница 109: ...our data locally you can use a USB stick to do so The data will be stored in a CSV file You can also use the string value during a program Its value is stored in variable rq_code_string found in the V...

Страница 110: ...rom which the Wrist Camera can fully see the tag then create a feature Point at this location 3 Go to Installation URCaps Camera Tags 4 From the dropdown list select the feature Point you previously c...

Страница 111: ...d make the tag squares stand out If they are blurry or incomplete adjust the Wrist Camera parameters until their shapes are all fully displayed on the Teach Pendant l When you are satisfied with the i...

Страница 112: ...ual Offset node In the program shown in Fig 6 30 the condition If tag found is under the Find Visual Offset node If no tag is found no visual offset is applied to the robot program If a tag is found a...

Страница 113: ...Apply Visual Offset takes the value by which a tag has been offset and modifies robot moves that are under this Apply Visual Offset node in the program As a best practice this node should be preceded...

Страница 114: ...a in the course of a robot program and save them to a USB stick This node is complementary to theWrist Camera URCap nodes Since saving an image can take up to five seconds for high definition images t...

Страница 115: ...he Save Image node in a robot program You can add different instructions following the Save Image node based on its success or failure Before adding those instructions you will need to select the dire...

Страница 116: ...pport to get the latest installer of the Robotiq User Interface along with appropriate documentation You can access the Robotiq User Interface Instruction Manual via robotiq com support Select Browse...

Страница 117: ...mation on the mechanical specifications and electrical specifications of your hardware l Hand E Instruction Manual section Specifications l Wrist Camera Instruction Manual section Specifications also...

Страница 118: ...iqto operate The coupling is mandatory since it integrates electronics and electrical contacts Coupling forISO 9409 1 50 4 M6 Bolt pattern for coupling GRP CPL 062 see Spare Parts Kitsand Accessories...

Страница 119: ...must not exceed 100 N regardless of the direction See section Moment and force limits for more details Warning The following limits must be respected at all times Calculation of maximum moment and fo...

Страница 120: ...flat rubber NBR overmolded fingers For more details see section Spare Parts Kitsand Accessories This finger allows a 0 50 mm stroke Info The stroke changes when installing the Fingertips Extender See...

Страница 121: ...sions and weight of the Wrist Camera Specification Value Maximum load 1 0 kg 40 Nm Weight without tool plate 1 60 g Weight with tool plate 230 g Added height without tool plate for use with 2 Finger G...

Страница 122: ...s are measured with coupling GRP CPL 062 and aluminum fingertips Payload and force Actuation force model used to calculate the recommended friction payload W For advanced mathematics contents refer to...

Страница 123: ...sents the maximum force payload F recommended at given Zoffset for a custom finger design mounted directlyonthe rackwithtwo 2 M3 screws l The red curve in the graph represents the maximum force payloa...

Страница 124: ...t in table Valuesof centerof mass tool centerpoint and massforkits 8 2 3 Moment and force limits Hand E has limits for moment and force values The maximum moment and force values are independent of th...

Страница 125: ...power minimum power consumption 1W Maximum power 22 W Communication interface USB2 0 8 4 Image Specifications 8 4 1 For the Wrist Camera Specification Value Maximum resolution 5 Mpx at 2 fps 2560 X 1...

Страница 126: ...Robotiq CNC Machine Tending Kit Instruction Manual l Field of view l Part dimensions l Background contrast 126...

Страница 127: ...in grip force being applied picking an object while opening or closing or closing the fingers on themselves Operation Daily Weekly 1 M cycles 2 M cycles Gripper Cleaning Dirty conditions Normal condi...

Страница 128: ...ipper and look for any visible damage 5 Put the coupling back on and secure it with four 4 M5 0 8 x 35mm socket head cap screws Use the tooth lock washers and apply medium strength threadlocker to the...

Страница 129: ...gripper contact support robotiq com 3 Put back in place according to the instructions from section GripperMaintenance 9 3 Cleaning Racksand Pinion Mechanisms Maintenance Interval R equired Tools Parts...

Страница 130: ...d in sectoin GripperMaintenance 10 Visually inspect the gripper and check for visible damage 11 Grease up racks Apply on all surfaces except the face with the tapped holes Info Use Mobilith SHC1500 gr...

Страница 131: ...NBR Over molded FingersKit l 2 x flat rubber NBR overmolded finger kits l Screws HND FIN MLD KIT Aluminum Finger Kit l 2 x aluminum fingers l Screws HND FIN ALU KIT Fingertip Starting Kit l 1 x Finger...

Страница 132: ...emale with 1 1 wiring l Screws ACC SPLIT M8 2 1 Adapter plate for dual gripper l 1 x 90 degree adapter plate bolt pattern ISO 9409 1 2004 4 X M6 50mm AGC APL 1 59 002 Replacement Wrist Camera l 1 x 10...

Страница 133: ...er l Gripper may have a major fault Check the error from fault status and contact support Solid blue Communicating l If you can control the gripper from the Teach Pendant check your robot program l If...

Страница 134: ...a Solid red Not communicating l Check if the Vision Server is started l It not start it l If it already is started stop it then restart it Follow these instructionsto start the Vision Server 1 Go to t...

Страница 135: ...cation during the warranty period and found to meet all published specifications Robotiq will charge standard verification fees The unit is considered defective when at least one of the following cond...

Страница 136: ...rees to forward upon request of national competent authorities the relevant technical documents specified by Annex VII part B within the required time Additionally the product declares in conformity w...

Страница 137: ...Robotiq CNC Machine Tending Kit Instruction Manual NFEN ISO 9409 1 2004 2004 Manipulating industrial robots Mechanical interfaces Part 1 Plates 137...

Страница 138: ...ducts Caution Conformity of the product is only met if all instructions of this manual are followed Among others installation safety measures and normal usage must be met The following standards have...

Страница 139: ...Robotiq CNC Machine Tending Kit Instruction Manual 1 3 3 IngressProtection Certificate 139...

Страница 140: ...accessible l The Vision System USB memory USB hub or USB dongle are inoperable Caution The warranty will become null and void if the l Unit has been tampered with repaired or worked on by unauthorize...

Страница 141: ......

Страница 142: ...1 5 Wrist Camera Harmonized Standards Declarationsand Certificates 1 5 1 Declaration of Incorporation Robotiq CNC Machine Tending Kit Instruction Manual...

Страница 143: ...Robotiq CNC Machine Tending Kit Instruction Manual 1 5 2 IngressProtection Certificate 143...

Страница 144: ...USand Canada Fax 1 418 800 0046 Technical support Extension 3 Sales Extension 2 Head office Robotiq 966 chemin Olivier Suite 500 L vis Qu bec G7A 2N1 Canada Where automation Pros come to share their k...

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