OnRobot SG User Manual
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OnRobot SG 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

    1.2. Scope of the Manual........................5 1.2.1. SG...............................5 1.2.2. Software and Firmware....................... 5 1.2.2.1. URCap Software......................5 1.2.2.2. Compute Box......................5 1.2.2.3. SG Firmware.......................6 1.3. Naming Convention..........................6 1.3.1. Compute Box/Eye Box......................6 1.4. Copyright............................. 6 2. Safety.............................. 7 2.1. Intended Use............................7 2.2.
  • Page 3 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. SG..........................24 6. Operation............................. 28 6.1. URCap Commands.........................28 6.1.1. SG............................28 6.2. URCap Toolbar..........................31 6.2.1. SG............................33 6.3.
  • Page 4 8.2.4.1. SG..........................59 8.2.4.2. Compute Box......................60 8.3. COG, TCP............................61 8.3.1. SG............................61 8.3.2. Angle Bracket........................62 9. Maintenance..........................65 9.1. SG............................... 65 10. Troubleshooting........................67 10.1. URCap Operation.......................... 67 10.2. Tool Functions Are Not Available.....................67 10.3. Error During Operation....................... 67 11. Warranties...........................68 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. SG Tool Version 1.2.2.

  • Page 6: Sg Firmware

    1.2.2.3. SG Firmware Firmware Version 1.0.18 *only when used on UR CB3 controller via tool connector. To update the SG firmware without a Compute Box please contact your distributor. 1.3. Naming Convention 1.3.1. Compute Box/Eye Box Eye Box and Compute Box are used interchangeably.

  • 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)

    • 3FG15 (Only on e-Series) or • RG2 or • RG6 or • SG or • VG10 or • VGC10 • Differnet modes of operation require the same installation/operation steps. Where the via Tool Connector mode requires different steps, it is highlighted and referred as via Tool Connector.

  • 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

    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. SG Tool QC-R v2 QC-R v2-4.5 A 4.2.3. Tools 4.2.3.1. SG Step 1: Move the tool close to the Quick Changer as illustrated.

  • 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

    NOTE: For the Quick Changer - Robot Side no cable is needed to be connected. 4.5.1. Tool Data Cable 4.5.1.1. SG First connect the data cable to the tool. Use the M8-8pin connector on the Quick Changer or on the Dual Quick Changer.

  • 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 (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. SG...

  • 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 The Serial number, System health and Firmware version are shown. Update: this will update the firmware if an update is available. Depending on the selected devices, different panels will become available to configure the devices. 5.1.3.4. SG The configuration panels for the SG are shown in the image below:...
  • Page 25 . The screen below will show up and the desired tool to be installed can be selected. NOTE: If the SG is connected via the CB3 tool connector, the silicone selection is not available. A generic silicone is automatically used instead.
  • Page 26 SW INSTALLATION When choosing a tool, in the dropdown menu, the gripper will automatically initialize to the chosen tools neutral position. This will also automatically set the right tool operating parameters such as width, TCP and tool Center of Mass. The gripper can also be initialized by pressing the Initialize button in the toolbar.
  • 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

    6.1. URCap Commands URCap commands provide an easy way to program an application. 6.1.1. SG SG Grip / SG Release command is used to grip or release a workpiece. SG Grip/SG Release When the...
  • Page 29 Gentle grip and Workpiece options are only available in the SG Grip command. Select device If two SG grippers are connected, select whether it is the SG (1) or SG (2) that performs the action 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.
  • Page 30 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 31: 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 32 OPERATION To enable/disable the toolbar, press on the OnRobot logo on the top right corner and check/uncheck the Enable toolbar checkbox.
  • Page 33 OPERATION 6.2.1. SG 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 SG grippers is shown below.

  • Page 34: Urscript Commands

    OPERATION GS (1) and GS (2): In case of using 2 SG grippers, you can select which one performs the action. Current width: shows the value. These are open and close hold-to-run buttons. This is for homing the SG. Initialize: Press here to initialize the gripper with the current tool. This button will only appear if the gripper is not initialized or if there is a mismatch between the Saved and the Current tool.

  • Page 35: Tcp Configuration

    OPERATION : The width that the gripper will open to. [mm] target_width : True: the grip will be done with the gentle grip feature (slow down close to gentle_grip target_width) : The index of the gripper to send the command to. tool_index =True: the function waits for the gripper to finish the grip command.
  • Page 36 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 37 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 38 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 39: Feedback Variables

    Recommended to set OnRobot_Default TCP TCP as the UR's Default TCP as the UR's Default TCP Before each program execution make sure to select on the OnRobot Installation panel the right gripper that will be the first used in the program Robot program...

  • Page 40: 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 41 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 42: 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 43 Initialized - the gripper has been initialized. • Select tool type Current tool - Shows the currently selected SG tool. Select the desired SG tool, by clicking • the adjacent radio button. Click on Initialize to initialize the selected SG tool •...

  • Page 44: Web Client: Configuration Menu

    ADDITIONAL SOFTWARE OPTIONS The default gripping speed is set as Gentle grip, the gripping speed is reduced at 12.5mm before the specified target width, this results in a gentler grip, compared to normal grip settings. The gripper can be controlled by adjusting the Target width slider, this will immediately control the gripper.

  • Page 45: Web Client: Update Menu

    ADDITIONAL SOFTWARE OPTIONS If it is set to Dynamic IP, the Compute Box expects an IP address from a DHCP server. If • the network that the device is connected to has no DHCP server, then the fixed 192.168.1.1 IP is used for the device (after 60 seconds of timeout). If it is set to Static IP, then a fixed IP address and subnet mask must be set.
  • Page 46 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 47: 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 48 ADDITIONAL SOFTWARE OPTIONS On the Users tab click on the Add new user button to add more users:...
  • Page 49 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 50 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 51: Hardware Specification

    84 x 98 [mm] 3.3 x 3.85 [inch] Weight 0.77 [kg] 1.69 [lb] *Gripping time is tool depended. See the separate SG Datasheet for the tool specific gripping time. Operating Conditions Minimum Typical Maximum Unit Power supply Current consumption [mA] Operating temperature [°C]...
  • Page 52 Soft Silicone Some SG tool designs has a soft silicone part in the top of the gripper. These tools are better suited for handling fragile workpieces and/or workpieces with a high variance in size, compared to the hard silicone tools.
  • Page 53 Sharp edges, on a workpiece, may damage the silicone and reduce lifetime of the tool. SG Tool Mounting Guide Rotate the ring so marking (A) facing you. Align the dot on the SG tool (B) with marking (A). Make them fit together and mount the ring onto the SG tool.
  • Page 54 HARDWARE SPECIFICATION Press the SG tool up against the ring until it fits perfectly (C). Make sure there is no gap between the SG tool and the ring (D). It is highly recommended to install the SG Base Part on the robot before installing the SG tool.

  • Page 55: Compute Box

    (F) visible. Locate the marking on the ring as described in step 1. Slide the SG tool smart lock female (F) and the smart lock male (G) together. Align the markings (I). Press the SG tool into the SG Base Part and rotate CW to align the two markings (J).

  • Page 56: 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 57: 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 58: 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 59: 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]. 8.2.4. Tools 8.2.4.1. SG...

  • Page 60: Compute Box

    HARDWARE SPECIFICATION All dimensions are in mm and [inches]. The Silicone Tool parts - that are attached to the SG base part -, are described in the SG Datasheet. 8.2.4.2. Compute Box Compute Box...

  • Page 61: Cog, Tcp

    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. SG Without any Silicone Tool, only the SG Base Part with spindle in. Coordinate system TCP [mm] Center of Gravity [mm]...

  • Page 62: Angle Bracket

    Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=-12 0.932 kg cY=-5 2.05 lb Z=154 cZ=45 With Silicone Tool Type B on (SG-b-H). Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=-12 0.937 kg cY=-5 2.06 lb Z=155 cZ=46 8.3.2.
  • Page 63 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 External mounting (QC and tool are mounted outward) calculated Not calculated calculated Calculated (see but possible to below) possible to possible to...
  • Page 64 HARDWARE SPECIFICATION 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° RZ=0° Internal mounting with QC connector on the A side Coordinate system TCP [mm]...

  • Page 65: Maintenance

    For the SG Base Part WARNING: Please, clean the SG Base Part regularly by using a cloth and a cleaning agent with a pH value between 6-8. When cleaning the SG Base Part please keep it mounted on the robot to prevent water getting into the connector.
  • Page 66 MAINTENANCE For the SG Tools The silicone part and the smart lock female are dishwasher and autoclave safe, at temperatures =< 120°C (248°F). Various cleaners can be used for cleaning the silicone part. Dish soap. Alcohol, regular ethanol, isopropanol and acetone works as well for cleaning.

  • Page 67: 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 68: 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 69: Certifications

    CERTIFICATIONS 12. Certifications...

  • Page 70: Emc

    CERTIFICATIONS 12.1. EMC...

  • Page 71: Sg-X-H

    CERTIFICATIONS 12.2. SG-x-H Results The materials and color additive have been tested for extraction and migration limits by an independent testing organization (Eurofins Product Testing A/S. Accreditation number 522) Sensory Analysis:...
  • Page 72 CERTIFICATIONS Parameter: Food Simulant: Median Grade: Limit Value* Odour Water (Just recognizable to slight deviation, chemical) Taste Water (Slight to intense deviation, chemical and flavoured) * From 61. Statement of BfR, Bundesgesundheitsbl. 46, 2003, 362-5. Analysis - BfR recommendation XV on silicone: Parameter: Result: Limit value **...

  • Page 73: Sg-X-S

    CERTIFICATIONS 12.3. SG-x-S Results The materials and color additive have been tested for extraction and migration limits by an independent testing organization (Eurofins Product Testing A/S. Accreditation number 522)
  • Page 74 CERTIFICATIONS For the Hard Part Sensory Analysis: Parameter: Food Simulant: Median Grade: Limit Value* Odour Water (Just recognizable to slight deviation, chemical) Taste Water (Slight to intense deviation, chemical and flavoured) * From 61. Statement of BfR, Bundesgesundheitsbl. 46, 2003, 362-5. Analysis - BfR recommendation XV on silicone: Parameter: Result:...
  • Page 75 CERTIFICATIONS Parameter: Result: Limit value ** Extractable components in water < 0.2 % 0.5 % Extractable components in 3% acetic acid < 0.3 % 0.5 % Extractable components in 10% ethanol < 0.2 % 0.5 % Volatile Compounds < 0.1 % 0.5 % Platinum 10 mg/kg...

  • Page 76: Declaration Of Incorporation

    CERTIFICATIONS 12.4. Declaration of Incorporation 12.4.1. SG...

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