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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  • 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. RG2-FT............................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. Compute Box/Eye Box......................6 1.4. Copyright............................. 6 2. Safety.............................. 7 2.1.
  • Page 3 5.1.3. URCap Setup........................19 5.1.3.1. Load Multiple Devices.....................19 5.1.3.2. Setup Tool Connector.................... 21 5.1.3.3. Device Info....................... 22 5.1.3.4. RG2-FT........................23 6. Operation............................. 28 6.1. URCap Commands.........................28 6.1.1. RG2-FT........................... 28 6.1.1.1. RG Grip........................28 6.1.1.2. RG2-FT Insert Part....................30 6.1.1.3. HEX-Force Control....................33 6.1.1.4.
  • Page 4 8.2.3. Mountings..........................72 8.2.3.1. Quick Changer - Robot Side................72 8.2.3.2. Quick Changer for I/O - Robot Side..............73 8.2.4. Tools............................74 8.2.4.1. RG2-FT........................74 8.2.4.2. Compute Box......................75 8.3. COG, TCP............................75 8.3.1. RG2-FT...........................76 8.3.2. Angle Bracket........................76 9. Maintenance..........................79 9.1. RG2-FT...............................79 10.

  • 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. RG2-FT 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

    2. Fasten the Clip-on Bracket with the plastic srew. 4.4. Wiring via Compute Box DANGER: Use only original OnRobot tool data cables. Connect the following cables to wire the system: • Tool data cable between the tool(s) and the Compute Box Ethernet cable between the robot controller and the Compute Box •...

  • Page 14: Tool Data Cable

    HW INSTALLATION NOTE: For the Quick Changer - Robot Side no cable is needed to be connected. 4.4.1. Tool Data Cable 4.4.1.1. RG2-FT First connect the data cable to the tool. For RG2-FT the Quick Changer tool data connector cannot be used. Instead use the marked M8-4pin connector.

  • Page 15: Ethernet Cable

    HW INSTALLATION CAUTION: Quick Changer and Dual Quick Changer can only be used to power OnRobot tools. 4.4.2. 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 16: Rg2-Ft

    (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). 4.4.3.1. RG2-FT Tool Power Supply 1.5 A Power Supply 5 A Power Supply 6.25 A...

  • Page 17: 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 18: 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 19: 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 20 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 21: 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 22: 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 23: Rg2-Ft

    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 24 SW INSTALLATION Hand Guide Require holding Hand Guide button: If checked (recommended) the Hand Guide enable button needs to be pressed constantly during the hand guiding. If unchecked, the hand guiding could be started by pressing the enable button and stopped by pressing the enable button again.
  • Page 25 SW INSTALLATION Proximity offset In the normal view of the panel, the set values are shown. To change the values, press on and the following screen will show: Calibrated value: shows the value to use for the application. This value is calculated as the Raw value minus the Offset value.
  • Page 26 SW INSTALLATION Offset value: shows the value that, after calibration, will compensate the Raw value to have usable Calibrated value. Calibration To calibrate the proximity sensor, follow the steps below. 1. Prepare a white paper and tap on Set proximity offset. 2.
  • 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. RG2-FT NOTE: At program start the force/torque finger sensors are automatically zeroed so no need to place a HEX-Zero command at the beginning of the program.
  • Page 29 OPERATION Target Width: The target gripping width can be set by using the Save as Target/Save Grasp button (recommended) or by typing it in manually. When pressed, the gripper will act as if the command is executed. Force: Set the target gripping Force (3-40 N). Depth compensation: If checked, during closing and opening the gripper, the robot moves to compensate for the circular movement of the fingers, so that the fingertips remain on the target.

  • Page 30: Rg2-Ft Insert Part

    OPERATION The number shows the Current width value. will set the Current width as target width. If used when a grasp is detected (see image below) this will set the Target Width as Current width – 3 mm if the workpiece is grabbed externally and + 3 mm if the workpiece is grabbed internally.
  • Page 31 OPERATION If the Set part TCP checkbox is checked the TCP will be set at the further end of the part. It requires the following two parameters to be given: Part length (L): the distance between the center point of the fingertip sensors and the center point of the item to be inserted.
  • Page 32 OPERATION Gain of force: The proportional gain parameter of the force control for the side forces on compliant axes. Gain of torque: The proportional gain parameter of the torque control for the compliant axes. Gain of force (Z): The proportional gain parameter of the force control for the pushing force. Gain of torque (Z): The proportional gain parameter of the torque control parallel to the insertion direction.

  • Page 33: Hex-Force Control

    OPERATION Generate warning when insertion unsuccessful: If enabled, a pop-up message (blocking) appears if the insertion was not successful. NOTE: The option is only active when a valid limit has been set at the advanced screen. If disabled, then no pop-up message is shown. 6.1.1.3.
  • Page 34 OPERATION : shows the name of the node. It can be edited and saved. Compliant Axes Fx, Fy, Fz, Tx, Ty, Tz axis selection. If an axis is enabled (compliant) the movement along that axis is force and torque controlled. The enabled axis is controlled to keep the set force and torque value constant.

  • Page 35: Hex-Search

    OPERATION 6.1.1.4. HEX-Search command is used to move the robot along a route and detect contact with HEX-Search an object. If the movement reaches the defined maximum distance, rotation, or moves all the way along the set trajectory without any contact, the search is not successful (the object is not found).
  • Page 36 OPERATION : shows the name of the node. It can be edited and saved. This option searches in a specified direction, distance, rotation or along a trajectory for an object. Relative direction: The direction in which the search is carried out. This can be set in a direction relative to the tool, to the base or on a trajectory.

  • Page 37: Hex-Zero

    OPERATION Center Tool The Center Tool option can, for example find a center of a hole (various shapes) with a small object. This option searches in set directions for the perimeters within a set distance, then moves the robot or base to the relative center of the boundaries that have been found. Frame: Set the Tool or Base.

  • Page 38: Onwaypoint

    OPERATION This command needs to be used when the robot is not moving and before executing any force related tasks. 6.1.1.6. OnWaypoint command is used to set a position for the robot. OnWaypoint Type: The type of the waypoint. It can be set to Fixed.

  • Page 39: Tcp

    TCP and/or payload for the robot. 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. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.
  • Page 40 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 41 OPERATION To enable/disable the toolbar, press on the OnRobot logo on the top right corner and check/uncheck the Enable toolbar checkbox.

  • Page 42: Rg2-Ft

    OPERATION 6.2.1. RG2-FT To open up the toolbar, follow the instructions under How to Access the Toolbar in the 6.2. URCap Toolbar section. The RG2-FT has a toolbar for gripping functionality and another toolbar for hand guiding. Both are described below. The toolbar for gripping functionality is shown below.
  • Page 43 OPERATION Current width: shows how wide the gripper is opened. Force: Set the target gripping force. : These are open and close hold-to-run buttons. The toolbar for hand guiding is shown below.
  • Page 44 Wait until the enable button turns blue and drive the robot by hand with the help of the OnRobot sensor. NOTE: Make sure that you do not touch the tool before the hand guiding is activated...

  • Page 45: Urscript Commands

    URScript commands can be used alongside other scripts. 6.3.1. RG2-FT When the OnRobot URCap is enabled, there will be a defined RG2-FT script function: rg2ft_proxi_offsets_set(ProxL = 0.0, ProxR = 0.0) This function can be used to manually set offset values of the optical (proximity) finger sensor.

  • Page 46: 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 section.
  • Page 47 However, it is highly recommended to create the Waypoints in the UR's Move command in a way that the referencing TCP is set first. So, if only a single OnRobot device is used, before the Waypoints are defined, set the UR's Move command's TCP to use the OnRobot_Single.
  • Page 48 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 49 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 50: Feedback Variables

    6.5.1. RG2-FT Feedback Unit Description Variable on_return The return value for the OnRobot commands Length of the 3D force vector √ F3D = Fx² + Fy² + Fz² F3D_Left Length of the 3D force vector for the left finger sensor √...
  • Page 51 OPERATION Feedback Unit Description Variable Proximity_Right [mm] The right proximity (distance) sensor actual value T3D_Left [Nm] Length of the 3D torque vector for the left finger sensor √ T3D_Left = ² + Ty ² + Tz ² T3D_Right [Nm] Length of the 3D torque vector for the right finger sensor √...

  • Page 52: 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 53 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 54: 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 55: Rg2-Ft

    ADDITIONAL SOFTWARE OPTIONS 7.1.3.1. RG2-FT The force and torque values (Fx,Fy,Fz and Tx,Ty,Tz) are shown in N/Nm along with the Proximity sensor values (optical distance sensor built in the fingertip) are show in mm for the left and right fingertip sensor. The Zero toggle switch can be used to zero the force and torque reading.
  • Page 56 ADDITIONAL SOFTWARE OPTIONS NOTE: Zero value set on this page is not stored permanently and are restored to the default values on power reset. The Proximity offset can be used to calibrate the proximity reading. The calibration requires the following steps to be done: Write 0 mm to the Left and Right edit box and click on the Save button.

  • Page 57: 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 58: 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 59 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 60: 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 61 ADDITIONAL SOFTWARE OPTIONS On the Users tab click on the Add new user button to add more users:...
  • Page 62 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 63 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 64: Hardware Specification

    HARDWARE SPECIFICATION 8. Hardware Specification 8.1. Technical Sheets 8.1.1. RG2-FT General Properties Minimum Typical Maximum Unit [kg] [lb] Payload Force Fit [kg] [lb] Payload Form Fit Total stroke (adjustable) [mm] 3.93 [inch] Finger position resolution [mm] 0.004 [inch] Repetition accuracy [mm] 0.004 0.007...
  • Page 65 HARDWARE SPECIFICATION Force Sensor Properties Units Nominal capacity (N.C.) [N] [Nm] Single axis overload Noise free resolution 0.008 0.005 [N] [Nm] Single axis deformation at N.C. [mm] [°] 0.015 0.04 [inch] [°] Full scale nonlinearity < 2 Temperature compensation Proximity Sensor Properties Typical Units Sensing range...
  • Page 66 HARDWARE SPECIFICATION Proximity Sensor Typical Accuracy...
  • Page 67 HARDWARE SPECIFICATION RG2-FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters. Fingertips The standard fingertips can be used for many different workpieces. If custom fingertips are required, they can be made to fit the Gripper fingers.
  • Page 68 HARDWARE SPECIFICATION Dimensions of the Gripper’s finger, in millimeters.

  • Page 69: Compute Box

    HARDWARE SPECIFICATION NOTE: During the fingertip design, the following shall be considered to maintain optimal performance: Clear optical path for the proximity sensors Protect the proximity sensors from direct sunlight or strong light source Avoid dust and liquid penetration WARNING: The proximity sensors are sensitive parts and shall be protected against: Direct strong light (such as directional laser sources) Direct high temperature...

  • Page 70: With 6.25A Wall Adapter (150W)

    HARDWARE SPECIFICATION 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 Input voltage (AC) Input current Output voltage Output current 6.25 Compute Box Power input (24V connector) Minimum Typical Maximum Unit...

  • Page 71: 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 72: 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 73: 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 74: Tools

    HARDWARE SPECIFICATION 8.2.4. Tools 8.2.4.1. RG2-FT All dimensions are in mm and [inches].

  • Page 75: Compute Box

    HARDWARE SPECIFICATION 8.2.4.2. Compute Box Compute Box Clip-on Bracket (optional) All dimensions are in mm and [inches]. 8.3. COG, TCP COG, TCP, and weight parameters of the single devices (without any mounting/adapter):...

  • Page 76: Rg2-Ft

    HARDWARE SPECIFICATION 8.3.1. RG2-FT Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=0 0.98 kg cY=0 2.16 lb Z=205 cZ=65 * Mounted at 0˚ 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...
  • Page 77 HARDWARE SPECIFICATION Rotation of the QC and the tool - whether the QC connector points to A,B,C,D side of the Angle Bracket when mounted Internal mounting (QC and tool are mounted inward) calculated Not calculated Calculated (see but possible to possible to below) possible to...
  • Page 78 HARDWARE SPECIFICATION Internal mounting with QC connector on the A side Coordinate system TCP [mm] Center of Gravity [mm] Weight Y= - 12 + (Tool Z value) cX=0 Z= 63 - (Tool Y value) 0.207 kg cY= - 55 - (Tool Z value) RX=90°...

  • Page 79: 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 80: 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 81: 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 82: Certifications

    CERTIFICATIONS 12. Certifications...

  • Page 83: Emc

    CERTIFICATIONS 12.1. EMC...

  • Page 84: Declaration Of Incorporation

    CERTIFICATIONS 12.2. Declaration of Incorporation 12.2.1. RG2-FT...

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