OnRobot UR CB3 Series User Manual
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OnRobot UR CB3 Series User Manual

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USER MANUAL
FOR UR ROBOTS
v1.4.1
Original Instructions

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Summary of Contents for OnRobot UR CB3 Series

  • Page 1 USER MANUAL FOR UR ROBOTS v1.4.1 Original Instructions...

  • Page 2: Table Of Contents

    Contents 1. Introduction............................ 5 1.1. Important Safety Notice........................5 1.2. Scope of the Manual........................5 1.2.1. 3FG15............................5 1.2.2. Software and Firmware....................... 5 1.2.2.1. URCap Software......................5 1.2.2.2. Compute Box......................5 1.3. Naming Convention..........................6 1.3.1. 3FG15............................6 1.3.2. Compute Box/Eye Box......................6 1.4. Copyright............................. 6 2.
  • Page 3 5.1. Robot Software Setup........................18 5.1.1. Install URCap......................... 18 5.1.2. Uninstall Software....................... 19 5.1.3. URCap Setup........................20 5.1.3.1. Load Multiple Devices....................20 5.1.3.2. Setup Tool Connector................... 22 5.1.3.3. Device Info....................... 23 5.1.3.4. 3FG15.........................24 6. Operation............................. 28 6.1. URCap Commands.........................28 6.1.1. 3FG15............................28 6.2.
  • Page 4 8.2.4.1. 3FG15.........................65 8.2.4.2. Compute Box......................66 8.3. COG, TCP............................67 8.3.1. 3FG15............................. 67 8.3.2. Angle Bracket........................68 9. Maintenance..........................70 9.1. 3FG15..............................70 10. Troubleshooting......................... 71 10.1. URCap Operation........................... 71 10.2. Tool Functions Are Not Available....................71 10.3. Error During Operation.........................71 11. Warranties........................... 72 11.1.

  • Page 5: Introduction

    Failure to comply with safety information could result in death or serious injury. 1.2. Scope of the Manual The manual covers the following OnRobot products and their components: 1.2.1. 3FG15 Tool...

  • Page 6: Naming Convention

    Eye Box and Compute Box are used interchangeably. 1.4. Copyright The information contained herein is property of OnRobot A/S and shall not be reproduced in whole or in part without prior written approval of OnRobot A/S. The information herein is subject to change without notice and should not be construed as a commitment by OnRobot A/S.

  • Page 7: Safety

    2.1. Intended Use OnRobot tools are intended to be used on collaborative robots and light industrial robots with different payloads depending on the end-of-arm tooling specifications. OnRobot tools are normally use in pick-and-place, palletizing, machine tending, assembly, quality testing and inspection and surface finishing applications.

  • Page 8: Risk Assessment

    The robot integrator must perform a risk assessment on the complete robot application. OnRobot tools are only components in a robot application and therefore they can be only safely operated if the integrator has considered the safety aspects of the whole application.

  • Page 9: Environmental Safety

    Workpiece itself represents a hazard • 2.4. Environmental Safety OnRobot A/S products must be disposed of in accordance with the applicable national laws, regulations and standards. The product is produced with restricted use of hazardous substances to protect the environment; as defined by the EU RoHS Directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI, polybrominated biphenyls and polybrominated diphenyl ethers.

  • Page 10: Operation Mode(S)

    OPERATION MODE(S) 3. Operation Mode(s) This document covers installation and operation for both: UR CB3 series robot controllers • and UR e-Series robot controllers. • Since the two controllers have similar installation and operation screens in these cases only the e-Series screens are shown. Where the two requires different steps or screens it is...

  • Page 11: Hw Installation

    HW INSTALLATION 4. HW Installation 4.1. Overview For a successful installation the following steps will be required: Mount the components • Setup the software • In the following sections, these installation steps will be described. 4.2. Robot Mount 1. Mount the robot-specific adapter (if applicable) 2.

  • Page 12: Quick Changer Mounting

    HW INSTALLATION 4.2.2. Quick Changer Mounting 4.2.2.1. Quick Changer - Robot Side Quick Changer - Robot Side 1. M6x8mm (ISO14580 8.8) 2. Quick Changer (ISO 9409-1-50-4- 3. Dowel pin Ø6x10 (ISO2338 h8) 4. Adapter/ Robot tool flange (ISO 9409-1-50-4-M6) Use 10 Nm tightening torque. 4.2.2.2.

  • Page 13: Compute Box Mount

    1. Hook the Clip-on Bracket to the rail on the side of the Compute Box and then flip it down. 2. Fasten the Clip-on Bracket with the plastic srew. 4.4. Wiring via Tool Connector DANGER: Use only original OnRobot tool data cables. The following devices are supported in the operation mode via tool connector: 2FG7 •...

  • Page 14: Wiring Via Compute Box

    Connect the Quick Changer for I/O to the UR's tool connector. DANGER: Never connect the Quick Changer or Dual Quick Changer to a CB3 UR robot's tool connector. Wiring via Tool Connector is finished. 4.5. Wiring via Compute Box DANGER: Use only original OnRobot tool data cables.

  • Page 15: Tool Data Cable

    HW INSTALLATION Connect the following cables to wire the system: • Tool data cable between the tool(s) and the Compute Box Ethernet cable between the robot controller and the Compute Box • Power supply of the Compute Box • NOTE: For the Quick Changer - Robot Side no cable is needed to be connected.

  • Page 16: Ethernet Cable

    Finally, connect the other end of the Tool data cable to the Compute Box's DEVICES connector. CAUTION: Quick Changer and Dual Quick Changer can only be used to power OnRobot tools. 4.5.2. Ethernet Cable Connect one end of the supplied Ethernet (UTP) cable to the robot controller's Ethernet (LAN) port. NOTE: If the robot controller's Ethernet port is in use, use a standard 4-port Ethernet switch to be able to use two network devices at the same time.

  • Page 17: 3Fg15

    (where the arrows are shown) and not the cable. CAUTION: Use only original OnRobot power supplies. Finally, power up the power supply that will power the Compute Box and the connected Tool(s). 4.5.3.1. 3FG15 Tool Power Supply 1.5 A Power Supply 5 A Power Supply 6.25 A...

  • Page 18: Sw Installation

    5.6 is not recommended, the 3.12 is not recommended. instead please use the 5.7. 1. Insert the OnRobot USB drive in the USB 1. Insert the OnRobot USB drive in the USB slot on the right side of the Teach Pendant.

  • Page 19: Uninstall Software

    URCaps option. screen), then from the System section tap on the URCaps menu. 2. Select the OnRobot URCap file. 2. Select the OnRobot URCap file. 3. Tap on the - sign. 3. Tap on the - sign.

  • Page 20: Urcap Setup

    UR CB3 UR e-Series Select the Installation tab, then select Tap on the Installation tab in the top menu. OnRobot Setup. The following screen is Then tap on the URCaps. shown: 5.1.3.1. Load Multiple Devices Device info In the normal view of the panel, the available functions are shown below: Dropdown menu to select a device-robot communication channel: Select whether you want to discover the devices connected to the tool connector or to the compute box.
  • Page 21 Quick Changer for I/O. Therefore make sure to wait at least 5 seconds before you start your program. To make sure that the device is connected check the Device info. If the connected OnRobot product is changed, always go to the Device info to check if the change was successful. CAUTION: After any error message is shown that is related to the connection to our devices, please go to the Device info to make sure that the right settings (e.g.:...

  • Page 22: Setup Tool Connector

    1. Press the General dropdown menu on the left side. 2. Press the Tool IO tab. 3. In the Controlled by dropdown menu select OnRobot as shown in the image below. 4. Make sure to save the changes to be part of the current installation.

  • Page 23: Device Info

    If the Tool connector option is selected in the Device info drop-down menu but no OnRobot product is connected to the tool connector then a background service program is running every 2 seconds. In addition to that the Tool IO is set to be logic high and low randomly.

  • Page 24: 3Fg15

    SW INSTALLATION Device info The Selected IP address, Compute Box Version, UR Robot IP and UR Robot subnet mask are shown. Errors This displays information about the errors if there is any. Device name The Serial number, System health and Firmware version are shown. Update: this will update the firmware if an update is available.
  • Page 25 SW INSTALLATION Mounting In the normal view of the panel, the selected Position is shown. Different Mounting Positions will allow to achieve different diameters and forces. Find more information in section Gripping Force and different Gripping Diameter. To select a different Mounting Position press on...
  • Page 26 SW INSTALLATION NOTE: The new selected Mounting Position will be saved in the gripper and not in the installation file. Therefore, if the gripper is moved to another robot, the settings will remain the same. However, if another gripper is used in the same robot the settings might need to be reset again.
  • Page 27 (Static TCP mode). For further information and best practices on the TCP setting see 6.4. TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.

  • Page 28: Operation

    OPERATION 6. Operation NOTE: It is assumed that the Installation has finished successfully. If not, first do the installation steps in the previous section. 6.1. URCap Commands URCap commands provide an easy way to program an application. 6.1.1. 3FG15 3FG Grip When the 3FG Grip command is executed, the gripper will try to reach the specified target (Diameter and Force).
  • Page 29 OPERATION select this if the workpiece will be gripped externally. If this is selected the internal gripper diameter will be shown on the target and current diameter. select this if the workpiece will be gripped internally. If this is selected the external gripper diameter will be shown on the target and current diameter.
  • Page 30 OPERATION State Feedback image External grip with target force detected Internal grip with target force detected Current diameter The number shows the Current diameter value. will set: the Target Diameter as Current diameter – 3 mm if grip workpiece is selected. •...
  • Page 31 OPERATION The command name in the robot program shows bullets • and a number in parenthesis (XX). •(xx)• Bullets outside the parenthesis means external release • (•xx•) Bullets inside the parenthesis means internal release • The number in parenthesis shows the target diameter •...

  • Page 32: Urcap Toolbar

    Then press on the OnRobot icon Each OnRobot End of Arm Tooling has its own functionality and that is explained in the sections below. To open up the toolbar in the CB3, press on the OnRobot icon on the top left side.
  • Page 33 OPERATION To enable/disable the toolbar, press on the OnRobot logo on the top right corner and check/uncheck the Enable toolbar checkbox.

  • Page 34: 3Fg15

    OPERATION 6.2.1. 3FG15 To open up the toolbar, follow the instructions under How to Access the Toolbar in the 6.2. URCap Toolbar section. The toolbar for the 3FG15 gripper is shown below.

  • Page 35: Urscript Commands

    6.3. URScript Commands URScript commands can be used alongside other scripts. 6.3.1. 3FG15 When the OnRobot URCap is enabled, there will be several 3FG script functions available: tfg_grip(diameter, force, external_grip= True, stop_if_no_force =true, tool_index=0, blocking=True) : The diameter that the gripper will open to. [mm] diameter : The force that the gripper will try to reach.

  • Page 36: Tcp Configuration

    Waypoints according to the Active TCP. For further info about the UR's TCP handling read the UR's Manual. How “far” the TCP needs to be moved to be at the “end” of the OnRobot tools could be found in the 8.3. COG, TCP...
  • Page 37 OPERATION Since, it could be hard to enter these values by hand, OnRobot provides two ways to get these parameters configured for you: Static TCP mode - Recommended to be used • Dynamic TCP mode • The mode could be selected on the TCP panel in the OnRobot Installation (see in the 5.1.3.
  • Page 38 OPERATION If two OnRobot devices are used, select OnRobot_Dual_1 or OnRobot_Dual_2 accordingly. If not the UR's Move command but the OnRobot command is used (for HEX-E/H QC F/T Move or RG2-FT only): Use the OnRobot TCP command just before the to set the Active TCP to the •...
  • Page 39 Before you teach any Waypoint make sure to set the Active TCP beforehand: for Single device go to the OnRobot Installation panel • for Dual devices go to the OnRobot Installation panel and Select the Device (1 or 2) that • you are using at the time of the teaching...

  • Page 40: Feedback Variables

    MoveJ (Set TCP = OnRobot_Dual_2) 6.5. Feedback Variables 6.5.1. 3FG15 Feedback Variable Unit Description on_return The return value for the OnRobot commands tfg_Busy True/false Whether the gripper is active or not tfg_Diameter [mm] Width between the fingers of the Gripper...

  • Page 41: Additional Software Options

    This interface could be used to communicate via simple digital I/O lines with the robots. There are 8 digital input and 8 digital output that could be used. These inputs and outputs can be programmed through the OnRobot WebLogic™ that requires the Ethernet interface to be used (only for programming time).
  • Page 42 Open a web browser on your computer and type in the IP address of the Compute Box • (factory default is 192.168.1.1). The Sign-in page opens: The factory default administrator login is: Username: admin Password: OnRobot For the first login a new password needs to be entered: (password must be at least 8 characters long)

  • Page 43: Web Client: Devices Menu

    Configuration - Change the Compute Box's settings • • WebLogic™ - Program the Digital I/O interface through OnRobot WebLogic™ Paths - Import/export the recorded Paths (not available to all robots) • Update - Update the Compute Box and the devices •...

  • Page 44: 3Fg15

    ADDITIONAL SOFTWARE OPTIONS 7.1.3.1. 3FG15 The state of the gripper could be: Busy - the gripper is in motion • • Grip detected - the gripper has detected a workpiece Force grip detected - the gripper has applied the target force to a workpiece. This also •...
  • Page 45 ADDITIONAL SOFTWARE OPTIONS The gripper can be controlled by adjusting the Target raw diameter slider. The actual values of the fingers are shown by the Current raw diameter. The raw diameter is without the fingertip offset. In Grip mode: First set how to grip the part: Externally or •...
  • Page 46 ADDITIONAL SOFTWARE OPTIONS Select finger position - Select the mounted finger position and Save. • Set finger length - If customized fingers are needed, the checkbox can be enabled, and • the new finger length can be entered. Set fingertip offset - The 4 different types that are delivered with the gripper can be •...

  • Page 47: Web Client: Configuration Menu

    ADDITIONAL SOFTWARE OPTIONS 7.1.4. Web Client: Configuration Menu Network settings: The MAC address is a world-wide unique identifier that is fixed for the device. The Network mode drop-down menu can be used to decide if the Compute Box will have a static or a dynamic IP address: If it is set to Dynamic IP, the Compute Box expects an IP address from a DHCP server.

  • Page 48: Web Client: Update Menu

    ADDITIONAL SOFTWARE OPTIONS In case, more than one Compute Box is used within the same network, for identification purpose any user specific name can be entered to the Display name. EtherNet/IP scanner settings: NOTE: This is a special option of the EtherNet/IP connection for some robots. In case when the robot is the Adapter and the Compute Box needs to be the Scanner the following addition information is required for the communication: IP address to connect to - the robot IP address...
  • Page 49 ADDITIONAL SOFTWARE OPTIONS CAUTION: During the update process (takes about 5-10 minutes) DO NOT unplug any device or close the browser window. Otherwise the updated device could be damaged. The loading screens during the update process are the same for the software and the firmware updates.

  • Page 50: Web Client: Account Settings

    ADDITIONAL SOFTWARE OPTIONS To start the firmware update, click on Update button in the firmware section of the page, see below. If the update is finished and was successful, the message below is shown. 7.1.6. Web Client: Account Settings This menu can be used to: See the currently sign-id user •...
  • Page 51 ADDITIONAL SOFTWARE OPTIONS On the Users tab click on the Add new user button to add more users:...
  • Page 52 ADDITIONAL SOFTWARE OPTIONS There are three user levels: Administrator • Operator • User • Fill in the user information and click Save. Later on to change any user information just click on the edit icon.
  • Page 53 ADDITIONAL SOFTWARE OPTIONS To prevent a user to sign-in either could be: deactivated by changing its Active status in the edit mode • or removed by clicking the delete icon. •...

  • Page 54: Hardware Specification

    HARDWARE SPECIFICATION 8. Hardware Specification 8.1. Technical Sheets 8.1.1. 3FG15 General Properties Minimum Typical Maximum Unit [kg] [lb] Payload Force Fit [kg] [lb] Payload Form Fit [mm] 0.16 5.98 [inch] External Grip Diameter* [mm] 1.38 6.93 [inch] Internal Finger position resolution [mm] 0.004 [inch]...
  • Page 55 HARDWARE SPECIFICATION Operating Conditions Minimum Typical Maximum Unit Power supply Current consumption 1500* [mA] Operating temperature [°C] [°F] Relative humidity (non-condensing) Calculated MTBF (operating life) 30.000 [Hours] *600 mA set as default. Fingers The supplied fingers can be mounted in 3 different positions to achieve different Gripping Forces and different...
  • Page 56 HARDWARE SPECIFICATION Fingertips The supplied fingertips are listed below. Different fingertips will allow to achieve different Gripping Forces and different Gripping Diameters. • Ø10 mm steel Ø13 mm steel • Ø13.5 mm silicone • Ø16.5 mm silicone • If custom fingertips are required, they can be made to fit the Gripper’s fingers according to the dimensions (mm)[inch] shown below.
  • Page 57 HARDWARE SPECIFICATION In the graph below, the maximum payload allowed for customized fingertip given a length is shown.
  • Page 58 HARDWARE SPECIFICATION In the graph below, how the % of maximum achievable force decreases as the finger length increases when customized fingertips are used. X-shape fingertips These fingertips improve the gripper's ability to pick and place round workpieces with collar like features.
  • Page 59 HARDWARE SPECIFICATION Gripping Force The total gripping force highly depends on the finger angle θ. For both internal and external grip, the lower the finger angle, the higher the force that will be applied as shown in the graph below. Although the fingers can move from 0 to 180, the angle range of an external grip is 30º-165º...

  • Page 60: Compute Box

    HARDWARE SPECIFICATION Phase 2: When the gripper diameter is very close to the programed target diameter, the gripper will increase the force to grip with the programed target force. After the grip, a break will be activated (tic sound). The activation of the brake, also known as, Force grip detected, can be verified in the GUI.

  • Page 61: With 6.25A Wall Adapter (150W)

    HARDWARE SPECIFICATION Compute Box Power input (24V connector) Minimum Typical Maximum Unit Supply voltage Supply current Compute Box Power output (Device connector) Minimum Typical Maximum Unit Output voltage Output current 8.1.2.2. With 6.25A Wall Adapter (150W) Supplied Wall Adapter Minimum Typical Maximum Unit...

  • Page 62: Mechanical Drawings

    Voltage level - FALSE Input current [mA] Input resistance [kΩ] 8.2. Mechanical Drawings 8.2.1. Adapter Plate No adapter plate is required. 8.2.2. Angle Bracket * Distance from Robot flange interface to OnRobot Quick Changer. All dimensions are in mm and [inches].

  • Page 63: Mountings

    HARDWARE SPECIFICATION 8.2.3. Mountings 8.2.3.1. Quick Changer - Robot Side * Distance from Robot flange interface to OnRobot tool. All dimensions are in mm and [inches]. NOTE: The cable holder (on the left side) is only required with the long (5 meter)

  • Page 64: Quick Changer For I/O - Robot Side

    HARDWARE SPECIFICATION 8.2.3.2. Quick Changer for I/O - Robot Side * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].

  • Page 65: Tools

    HARDWARE SPECIFICATION 8.2.4. Tools 8.2.4.1. 3FG15...

  • Page 66: Compute Box

    HARDWARE SPECIFICATION All dimensions are in mm and [inches]. 8.2.4.2. Compute Box Compute Box...

  • Page 67: Cog, Tcp

    HARDWARE SPECIFICATION Clip-on Bracket (optional) All dimensions are in mm and [inches]. 8.3. COG, TCP COG, TCP, and weight parameters of the single devices (without any mounting/adapter): 8.3.1. 3FG15 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=0 1.15 kg cY=0 2.5 lb Z=156...

  • Page 68: Angle Bracket

    HARDWARE SPECIFICATION 8.3.2. Angle Bracket Options for mounting Rotation of the QC and the tool - whether the QC connector points to A,B,C,D side of the Angle Bracket when mounted External mounting (QC and tool are mounted outward) calculated Not calculated calculated Calculated (see but possible to...
  • Page 69 HARDWARE SPECIFICATION Example with an RG2 tool: TCP [mm] Center of Gravity [mm] Y= - 55 - 200 = - 255 cX=0 Z= 63 + 0 = 63 cY= - 55 - 64 = - 119 RX=90° cZ= 63 + 0 = 63 RY=0°...

  • Page 70: Maintenance

    9. Maintenance WARNING: An overall inspection of the OnRobot's End of Arm Tooling must be performed regularly and at least once every 6 months. This inspection must include but is not limited to check for defective material and clean gripping surfaces.

  • Page 71: Troubleshooting

    Installed URCaps from different vendors may affect the OnRobot URCaps operation. If you experience slow GUI response, performance issue, slow program start, error pop-ups, or function loss, make sure that only the OnRobot URCap is installed on the robot. 10.2. Tool Functions Are Not Available If the tool functions are not available (grayed out) in the program, return to the Installation tab >...

  • Page 72: Warranties

    Ownership of devices or components replaced by and returned to OnRobot A/S shall vest in OnRobot A/S. Any other claims resulting out of or in connection with the device shall be excluded from this warranty. Nothing in this warranty shall attempt to limit or exclude a customer’s statutory rights nor the manufacturer’s liability for death or personal injury resulting...

  • Page 73: Certifications

    CERTIFICATIONS 12. Certifications...

  • Page 74: Emc

    CERTIFICATIONS 12.1. EMC...

  • Page 75: Declaration Of Incorporation

    CERTIFICATIONS 12.2. Declaration of Incorporation 12.2.1. 3FG15...

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