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External Tool Finishing Kit - Instruction Manual

4.2. Copilot control with Universal Robots

Nodes/ Features

CB-Series Universal Robots

e-Series Universal Robots

License Type

FT 300 Force Torque Sensor

Force

Copilot

Machine Tending

Copilot

Finishing

Copilot

Collision Detection

Find Surface

Finishing Tool Control

Force Event

Force Control

Insertion node

Find Contact Offset

Apply Contact Offset

Path Generator

Multipoint Path

(with External TCP option)

Path

Path (with External TCP option)

Zero FT Sensor

Active Drive

Table 4-1: Nodes and Features, Based on License Type

Содержание ETF-CB-UR-KIT

Страница 1: ...Robotiq External Tool Finishing Kit on Universal Robots Instruction Manual robotiq com leanrobotics org Original Notice 2019 Robotiq Inc...

Страница 2: ...sand Equipment 16 3 3 Environmentaland Operating Conditions 16 Hand E Gripper 16 FT Sensor for CB Series robots 17 3 4 MechanicalInstallation 17 3 4 1 Installing the fingers fingertips holders on the...

Страница 3: ...Series robots 37 Features 38 Gripper operation window 40 4 1 4 Gripper Node 41 Command window 42 Features 43 Edit action screen 45 Features 45 Grip Check node 47 On e Series 47 On CB Series 47 About 4...

Страница 4: ...8 Insertion nodes 76 Child nodes 77 Features Spiral 77 Features Rotational 79 Features Linear 80 4 2 9 Find Surface Node 81 4 2 10 Force Control node 83 Overview 83 Features 83 Reference frame 83 Para...

Страница 5: ...1 Maximum payload External force vs Custom finger design 102 Friction grasp and form fit grasp 104 Maximum payload by grasp type 104 5 2 3 Center of mass and tool center point of the FT Sensor and the...

Страница 6: ...ot be reproduced in whole or in part whether for sale or not without prior written consent from Robotiq Under copyright law copying includes translation into another language or format Information pro...

Страница 7: ...uses a point on the external tool as a reference to measure wear With 0 2 mm precision contact offset validates the tool s exact position anytime you wish If there s a slight change the robot program...

Страница 8: ...how to integrate custom fingers and fingertips to Hand E Fig 1 2 Mounting a finger on a rack When ordered as a kit a fingertip starting kit is included Please refer to the Spare Parts Kits and Access...

Страница 9: ...1 3 Setup and Control The Hand E Gripper has an embedded object detection feature based on indirect sensing methods When picking an object with the go to command the gripper status indicates whether o...

Страница 10: ...le a USB storage device hosting the product license The Finishing Copilot software is used for the implementation of a force torque sensor s operational commands in a user interface and that unlocks f...

Страница 11: ...ings l M12 connector pigtail or mounted allows for both power and data transfer for the Sensor l Status LED provides visual information on the status of the Sensor see StatusLED sectionof the FT 300 F...

Страница 12: ...s l SensorCable is used for power and communications with the FT 300 Force Torque Sensor and is available in different lengths l Mechanical Protectoris meant to protect the cable connector from collis...

Страница 13: ...e Gripper needs to be properly secured before operating the robot l Do not install or operate a Gripper that is damaged or lacking parts l Never supply the Gripper with an alternative current source l...

Страница 14: ...e on our website www robotiq com or contact our technical support 2 1 2 Intended Use For the Hand EGripper The Gripper unit is designed for gripping and temporarily securing or holding objects Info Al...

Страница 15: ...nchored and the danger zone is cleared l The fingers of the Hand E Gripper may move and cause injury or damage 3 1 Scope of delivery of the External Tool Finishing Kit for UR ETF ES UR KIT Included in...

Страница 16: ...ions Hand EGripper Caution Use of the Hand E Gripper is not recommended in presence of chemicals in the environment Conditions Value Minimum storage transit temperature 30 C 22 F Maximum storage trans...

Страница 17: ...sing 20 80 RH Maximum vibration storage transit 5G Maximum vibration operating 2G IP rating IP 40 Other l Free from dust soot or water l Free from corrosive liquids or gases l Free from explosive liqu...

Страница 18: ...Fig 3 1 Mounting fingers on racks Fig 3 2 Mounting fingertips on holders and then on racks 18...

Страница 19: ...he Hand E on the robot exploded view in the figure below Note that all screws should be locked using medium strength threadlocker 1 Mount the coupling on the robot tool flange Align using the dowel pi...

Страница 20: ...ory you can customize yours from a blank provided by Robotiq Here are the steps to follow for the installation of the Sensor see figure below Note that all screws must be locked in place using medium...

Страница 21: ...use the 24 Volt external source available on the CB Series controller POWERSUPPLY SPECIFICATIONS VALUE Output voltage 5 to 24 V DC Max power consumption 2 W Overcurrent 1 A Fuse Phoenix 0916604 UT6 T...

Страница 22: ...ithout pulling out the connectors Always protect the controller side of the cable connection with a strain relief cable clamp Fig 3 5 Pinout of the Robotiq Force Torque Sensor FT 300 and color code fo...

Страница 23: ...ate a custom version for you Some couplings may require an additional adapter plate To create your own coupling and or adapter plate and to see the details of the available couplings and adapter plate...

Страница 24: ...Robotiq provides you with a Universal Robots URCap package that enables direct serial communication to your UR controller The External Tool Finishing Kit URCap installation consists in the installati...

Страница 25: ...ller is compatible with the package refer to the Installation section Info Use the latest Polyscope version with your Finishing Copilot to ensure compatibility Make sure your Finishing Copilot is up t...

Страница 26: ...hen Universal Robots l Click on Software External Tool Finishing URCaps download the zip of URCaps and extract them on the root of a blank USB stick l Insert the USB stick in the URteach pendant or co...

Страница 27: ...tion By doing so you accept the license agreement detailed in the URCap information textbox 3 4 5 Uninstalling URCap Package If you wish to uninstall the Hand E the Finishing Copilot or the FT Sensor...

Страница 28: ...in the navigation pane on the left l Select URCaps l In the Active URCaps box select the URCap to uninstall l Tap the minus button to uninstall the URCap l Restart PolyScope to complete the uninstalla...

Страница 29: ...ove to a specific opening grasp an object and modify the speed and force applied by the Gripper Caution Starting from Gripper URCap version 1 0 2 the gripper activation script command rq_activate or r...

Страница 30: ...wrist box 6 If no Gripper is found tap the Scanbutton to detect any Gripper that might be connected to the robot 7 Tap the Activate Reactivate button 8 In order to display the Gripper Toolbar in the U...

Страница 31: ...ashboard button 4 In no Gripper is found tap the Scanbutton to detect any Gripper that might be connected to the robot 5 Tap the Activate button Fig 4 2 Gripper Dashboard 6 If required change the ID o...

Страница 32: ...ivate The Activate and Reactivate buttons enables the corresponding Gripper Not activated Activated Gripper status One or the other of these icons is displayed next to the corresponding Gripper icon G...

Страница 33: ...fingertips used the operator will calibrate the Gripper and measure the stroke by defining the fully open and fully closed positions Make sure the Gripper is activated One Seriesrobots 1 On the teach...

Страница 34: ...pending on the PolyScope settings defined by the user the units of measurement can either display according to the metric or imperial system Fig 4 4 First step of the calibration wizard Following thei...

Страница 35: ...button to access the Gripper Calibration menu Calibrate Recalibrate The Calibrate and Recalibrate buttons launch the Gripper Calibration wizard Default Following a calibration tap this button to reset...

Страница 36: ...ion wizard Open Tap this button to open the Gripper in the Calibration wizard Fully closed Visual aid for entering the fully closed dimension in the Calibration wizard Fully open Visual aid for enteri...

Страница 37: ...r can tap the UR button at the top of the screen to expand the Gripper Toolbar Please refer to the figure below If the user has omitted to tick the ShowGripperToolbarboxin the Gripper Dashboard tappin...

Страница 38: ...een calibrated at this point the Open and Close values will remain in percentage Please refer to the Software section for instructions Once the Gripper is activated the toolbar can be expanded and use...

Страница 39: ...p to toggle between the expanded blue and collapsed black Gripper Toolbar Activate Tap to activate the Gripper The Gripper will fully open and close to set the zero of the position value Emergency ope...

Страница 40: ...pen 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 Gripper...

Страница 41: ...ne Seriesrobots 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 Tap the URCapsm...

Страница 42: ...tware section for more details When the node is not defined the Command window shows warning messages Tap Edit actionto modify the Gripper s action Caution Tap the Go to positionbutton prior to editin...

Страница 43: ...d Gripper node Read only Requested force Shows the force requested for the selected Gripper node Read only Go to position Sends all node parameters position force speed to the Gripper Note This button...

Страница 44: ...Please edit action When creating a new node all action parameters are undefined Tap the edit action button to define parameters Object picking warning Warning if you are picking an object use close 1...

Страница 45: ...rq_activate_and_wait function script at the beginning of the program or activate with the Gripper toolbar Starting from Gripper URCap version 1 0 2 the gripper activation script command rq_activate o...

Страница 46: ...rresponding parameter Cancel Cancels modifications and brings back the Gripper node command screen Save action Saves settings into the selected Gripper node and brings back the Gripper node command sc...

Страница 47: ...avigation pane on the left 4 Tap the Grip Checkbutton 5 Select the node in the robot program to edit it On CB Series 1 Open a robot program or create one 2 Go to the Installationtab 3 Tap the URCapssu...

Страница 48: ...t tapping the actual 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 sof...

Страница 49: ...he About sub menu Caution OnCB Seriesonly If the Gripper version is obsolete a warning message will display and an Upgrade firmware button will prompt the user to upgrade the firmware to the latest av...

Страница 50: ...et This will force the gripper s activation routine Thus if the gripper was already activated it will activate again Gripper Program Template With the URCap package installation a program template wil...

Страница 51: ...ing Copilot Collision Detection X X X X Find Surface X X X X Finishing Tool Control X X Force Event X X X X Force Control X X X X Insertion node X X X X Find Contact Offset X X X Apply Contact Offset...

Страница 52: ...d Contact Offset node When using Contact Offset capabilities run this node before the Apply Contact Offset node This node finds by how much a reference feature has been offset and stores this value wh...

Страница 53: ...eachsequence 5 From the Feature to offset dropdown list select the feature point you previously created For more information select the help button 6 Select Add translation or Add orientation to deter...

Страница 54: ...y the offset value Add Translation Fig 4 15 Select this button to insert a Translationnode Fig 4 16 Translation node Fig 4 17 Add Translation program tree l Follow these steps to setup a Translation n...

Страница 55: ...more details see Find Surface 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 pr...

Страница 56: ...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 Add orientation Fig 4 18 Select this button...

Страница 57: ...e Orientation node contains two Touch nodes Configure each node as described in section Add translation The two offset values will be used to calculate a rotation angle 4 2 2 Apply Contact Offset Inse...

Страница 58: ...t section of the robot program or as a sub program This strategy will reduce the frequency at which nodes are run in the course of your robot program 4 2 3 Finishing Tool Control node When running a p...

Страница 59: ...ch your tool is connected in the robot controller In addition you must ensure that your finishing tool stops running on an emergency stop e stop protective stop p stop or program stop To do so follow...

Страница 60: ...d paths directly by moving the robot The ActiveDrive Toolbar is a great tool to use while recording a path as it is an easy way to hand guide the robot end effector Path recording can be used for spec...

Страница 61: ...e a program or tap the Openbutton to load an existing program l Select the URCapsmenu l Tap the Pathbutton l In the Command tab select the required option for the desired Path o Tool onrobot i Normal...

Страница 62: ...the Actual pose of the robot or go configure a Feature point in Installationtab Features Point Whenthe External Tooling isselected l Configure the position and the orientation of your Tool Center Poin...

Страница 63: ...e robot at the path s start Press and hold in order to move the robot at the path s end Press and hold in order to move the robot to the path s start and play the path as it will be executed in the pr...

Страница 64: ...orded path tap Cancel 4 2 5 Multipoint path node The Multipoint Path node is an advanced version of the Path node combining complex trajectory recording and point to point teaching with the option to...

Страница 65: ...choose in the dropdown list the required pos ition You can select Actual pose to continue with the actual position of the robot or you can create a feature point in Installationtab Features Point Fig...

Страница 66: ...nd leading to the starting waypoint of the path sequence How to set up a Multipoint Path Step 1 l Select the MoveJTo waypoint child node in the program tree l A menu will display in the Command tab l...

Страница 67: ...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...

Страница 68: ...reedrive mode or the URMove 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 24 Multipoint Path interfa...

Страница 69: ...ry in a matter of minutes You can put the Path Generator node within a Force Control node to make sure your robot applies a constant force along the process l To add a PathGeneratornode open the URCap...

Страница 70: ...ence on the illustration 4 When it is defined you can always move to the point click on move herebutton that will be available or change the waypoint click on set waypoint 5 Perform the same procedure...

Страница 71: ...same procedure for all six points Make sure the corner you are teaching fits the corners sequence on the illustration 7 When all corners have been defined go back to 6 Point 8 You can edit parameters...

Страница 72: ...rocedure for all nine points Make sure the 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...

Страница 73: ...bots by allowing the robot to be hand guided smoothly and easily towards a waypoint The ActiveDrive feature is a great way to assist the Path recording described in the Path Recording section by hand...

Страница 74: ...move the robot freely by applying forces on robot s end effector This is different from the Free Drive feature on the robot where you can move the robot arm Modes Shows the current ActiveDrive mode Wh...

Страница 75: ...igns the tool center point TCP orientation with the robot base Tap and hold this button to automatically move the end effector to the closest orthogonal orientation of the base axis system just try it...

Страница 76: ...s or bores or to make contact with a surface It is an essential integration resource for streamlining robot programs in the framework of precise assembly applications When the task is performed by a h...

Страница 77: ...by the user Rotational Following 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...

Страница 78: ...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 the part to...

Страница 79: ...ct the direction in which the tool will go to reach the destination 4 Advanced parametersbox Box that expands the advanced parameters menu when ticked 5 Linearspeed parameter Textbox for the user to e...

Страница 80: ...ault value Reference frame Direction N A Tool Axis Direction N A Z Linear speed mm s 5 Force initiating rotation N 10 Rotation speed s 5 Maximum torque Nm 1 Maximum rotation angle Error condition 360...

Страница 81: ...jects The default parameters of the function allow for a versatile demo or a quick test of the features while the advanced parameters make it a more customizable asset Howto add a Find Surface node l...

Страница 82: ...the linear motion 7 Insert instructiontextbox Checkbox that inserts the corresponding stop condition in the robot program when ticked its main func tion is to facilitate the programming and improve t...

Страница 83: ...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...

Страница 84: ...ee options or torque feeding around 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 forc...

Страница 85: ...a situation where 10 N are applied exclusively along the Z axis with 20 stiffnessalong the X and Y axes and a deviation range that goes from 50 mm to 50 mm along all axes l The end effector will syst...

Страница 86: ...le pulling back less and less over time Fig 4 29 End effector experiencing adaptive stiffness upon repeated contact with a surface on CB Series Current vstargeted position From the Force Control node...

Страница 87: ...External Tool Finishing Kit Instruction Manual Fig 4 30 Force control for e Series Fig 4 31 Force control for CB Series 87...

Страница 88: ...t 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...

Страница 89: ...direction the Z axis is perpendicular to the X axis and is close to the robot s Zaxis Test The Test button applies the user defined settings of the Force Control node to the sensor therefore moving al...

Страница 90: ...Finishing Copilot software package includes Force Event which can be used to perform a click detection or to wait for a specific force or torque Howto add a Force Event function l On the teach pendan...

Страница 91: ...an operation to add to the Force Event sequence 1 Wait forForce function 2 Clickdetection function Wait forForce The Wait for force feature is used to detect a specific force or torque inside a Force...

Страница 92: ...goes to the following instructions Indeed a program instruction can be added if no click is detected Tip To perform a click button action as shown by the animated gif a Find Surface function has to be...

Страница 93: ...e defined limits By default the program does not monitor forces and torques Howto add a CollisionDetection l OnCB Series From the PolyScope home page tap Program Robot and create or load a robot progr...

Страница 94: ...or CB Series robot Thus any forces or torques applied to the robot arm will not be detected Only those applied to the end of arm tooling are monitored The Collision Detection feature in the installati...

Страница 95: ...se_force index function returns the current wrench force and torque vector value applied at the robot arm base l The express_force_in_frame T_from_to wrench_from function is used to convert the wrench...

Страница 96: ...gure below represents the gripper dimensions with axes X Y Z and origin referenced for finger motion Info All technical drawings in the current section depict aluminum fingers Fig 5 1 General dimensio...

Страница 97: ...xceed 100 N regardless of the direction Please refer to the Moment and force limits section for more details Warning The following limits must be respected at all times Calculation of maximum moment a...

Страница 98: ...p holders To install fingertips on racks use fingertip holders HND TIP HLD KIT and refer to the Spare Parts Kitsand Accessoriessection of the Hand E Instruction Manual You may customize fingertips to...

Страница 99: ...KIT please refer to the Spare Parts Kitsand Accessoriessection This fingertip has a grooved surface with an optimal shape for picking cylindrical parts by its horizontal and vertical grooves This fin...

Страница 100: ...permanently damage the Force Torque Sensor Fx 300 Fy 300 Fz 300 Mx 30 My 30 Mz 30 500 Outside diameter 75 mm Thickness 37 5 mm Stiffness Fx Fy 35 X 106 N m Fz 30 X 106 N m Mx My 10 000 Nm rad Mz 20 00...

Страница 101: ...lculate the recommended friction payload W where l Fis the force applied by the gripper to the load l Cf is the friction coefficient between fingertip and part load l Sf is a safety factor to be deter...

Страница 102: ...standing still When accelerating the payload will decrease The biggest factor in such calculations will always be the frictioncoefficient we recommend testing the coefficient Warning You must conside...

Страница 103: ...l The yellowcurve in the graph represents the maximum force payload F recommended at given Zoffset for a custom finger design mounted directlyonthe rackwiththree 3 M3 screws Info The data is calculat...

Страница 104: ...pecific cases with regards to your own application the main item to address is the strength of the screws used for mounting the fingers Friction grasp and form fit grasp Fig 5 10 Hand E grasps Maximum...

Страница 105: ...5 2 3 Center of massand tool center point of the FTSensor and the Hand EGripper Couplingsare included whenGrippersare not mounted onthe Camera 105...

Страница 106: ...clude robot acceleration and safety factors Parameter Hand E withAluminum Fingers Fx Fy Fz 100 N Mx 2 65 Nm My 3 74 Nm Mz 2 00 Nm Moments in x and y are calculated from the base of the fingers as show...

Страница 107: ...rical interface RS 485 Recommended fuse Phoenix 0916604 UT6 TMC M 1 A Recommended power supply TDK Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply DPP15 24 5 4 Electrical specification...

Страница 108: ...and E Gripper requires only external maintenance with limited downtime Please refer to the Maintenance section of the Hand E Instruction Manual available on www support robotiq com External Tool Finis...

Страница 109: ...the robot side Spare parts kits and accessories list Item Description Ordering Number External Tool Finishing Kit for URCB Series 1 x Hand E Gripper and FT 300 Sensor Kit for UR HND FTS UR KIT ETF CB...

Страница 110: ...8 Troubleshooting Please refer to the Troubleshooting section of the Hand E Instruction Manual available on www support robotiq com External Tool Finishing Kit Instruction Manual...

Страница 111: ...9 Warranty Please refer to the Warranty section of the Hand E and the FT Sensor Instruction Manuals available on www support robotiq com External Tool Finishing Kit Instruction Manual...

Страница 112: ...more details about the original EC declaration of incorporation the applied standards and the Ingress Protection Certificate of the Hand E Gripper please refer to this section in the Hand E Instructi...

Страница 113: ...e at 500 966 chemin Olivier L vis Qu bec Canada G7A 2N1 which specializes into the conception advanced manufacturing and sale of robotic products the Licensor s Business End User means a customer auth...

Страница 114: ...will be made available thereof 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 Licens...

Страница 115: ...ination of this Agreement for any reason the End User shall promptly uninstall the Software on any UR s Products and Licensor s Products computer or server on which it has been installed deliver to th...

Страница 116: ...greed that this Agreement and all related documents be drafted in English only Les parties aux pr sentes confirment qu elles ont accept que la pr sente convention et tous les documents y aff rents soi...

Страница 117: ...side USand Canada Technical support and engineering option 3 Sales option 2 Head office Robotiq 966 chemin Olivier Suite 500 St Nicolas Qu bec G7A 2N1 Canada Where automation Pros come to share their...

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