OnRobot HEX-E v1 User Manual
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OnRobot HEX-E v1 User Manual

Force torque sensor
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USER MANUAL
HEX
Force Torque Sensor
For the Universal Robots
Edition E10
OnRobot FT URCap Plugin Version 3.1.3
June 2018

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Summary of Contents for OnRobot HEX-E v1

  • Page 1 USER MANUAL Force Torque Sensor For the Universal Robots Edition E10 OnRobot FT URCap Plugin Version 3.1.3 June 2018...

  • Page 2: Table Of Contents

    URCap Plugin Installation ....................13 URCap Plugin Setup ......................16 2.6.1 Example Setup ......................18 Using the URCap Plugin ......................20 OnRobot Feedback Variables ..................... 20 3.1.1 Effects of the TCP Position ..................23 Hand Guide Toolbar......................23 OnRobot URCap Commands ....................25 3.3.1...
  • Page 3 F/T Insert Box Command Return Values............57 6.4.7 F/T Insert Pin Command Return Values............57 6.4.8 F/T Move Command Return Values ................ 58 6.4.9 F/T Path Command Return Values ................ 58 6.4.10 F/T Search Command Return Values ..............58 OnRobot © 2018 www.onrobot.com...
  • Page 4 Troubleshooting ........................60 6.5.1 “The Robot has no IP address” ................... 60 6.5.2 “Discovery Tool was able to find OnRobot Device available in the Network” ..63 6.5.3 Too Close to Singularity ....................64 6.5.4 Warning sign on Hand Guide Bar................65 6.5.5...
  • Page 5 OnRobot A/S. does not assume any responsibility for any errors or omissions in this document. In no event shall OnRobot A/S. be liable for losses or damages to persons or property arising from the use of this document.

  • Page 6: Preface

    The sensor is designed for measuring forces and torques, installed on the end effector of a robot. The sensor can be used within the specified measurement range. Using the sensor outside of its range is considered misuse. OnRobot is not liable for any damage or injury resulting from misuse.

  • Page 7: Typographic Conventions

    External links, or internal cross-references. Bold, blue text <angle brackets> Variable names that must be substituted by real values or strings. 1. Numbered lists Steps of a procedure. A. Alphabetical lists Image callout descriptions. OnRobot © 2018 www.onrobot.com...

  • Page 8: Getting Started

    2 Getting Started 2.1 Scope of Delivery In the Universal Robots OnRobot HEX Sensor Kit everything is provided that is required to connect the OnRobot force/torque sensor to your UR robot. There are two versions of the OnRobot Universal Robots (UR) Kit, depending on the HW version of the sensor.
  • Page 9 27. M5 washer (9 pcs) 2.2 Sensor Description 2.2.1 HEX-E v1 and HEX-H v1 The sensor consists of a sensor body, an adapter, and a overload plug. The sensor cable connector, the cable holder, and markers for the reference frame are on the sensor body.

  • Page 10: Mounting

    Use only the screws provided with the sensor. Longer screws could damage the sensor or the robot. 2.3.1 HEX-E v1 and HEX-H v1 To mount the sensor, follow this process: 1. Fasten Adapter-A to the Robot by four M6x8 Screws. Use 6 Nm tightening torque.
  • Page 11 4. Fasten the Plug to the Sensor by one M6x30 Screw. Use 6 Nm tightening torque. Legend: 1 –robot tool flange, 2 – Aadapter- A2, 3 - M6 washer, 4 – M6x8 Torx screws, 4, 5 – sensor, 6 – M4x6 Torx screws, 7 – cable holder OnRobot © 2018 www.onrobot.com...

  • Page 12: Cable Connections

    For more information, refer to the UR’s documentation. 6. Apply the correct network settings to both the Compute Box and the UR robot. The default Compute Box IP address is 192.168.1.1, to change it, see Changing the IP of the Compute Box. OnRobot © 2018 www.onrobot.com...

  • Page 13: Software Upload To Robot Controller

    Getting Started 13 2.5 Software Upload to Robot Controller To upload the OnRobot examples and URCap plugin, insert the USB drive in the USB slot on the right side of the Teach Pendant. 1. A red "!USB!" warning sign appears, indicating the upload is in progress.
  • Page 14 Getting Started 14 2. Press the URCaps Setup button. 3. Press the + sign. 4. Select the OnRobotForceTorqueSensor-x.y.z.urcap file from the programs/OnRobot_UR_Programs folder. 5. Press the Open button. OnRobot © 2018 www.onrobot.com...
  • Page 15 Getting Started 15 6. The screen shows that the OnRobot Force Torque Sensor URCap plugin has been installed. 7. Press the Restart button to finalize installation process. 8. Click on the Program Robot button after the restart is finished. OnRobot © 2018...

  • Page 16: Urcap Plugin Setup

    Getting Started 16 9. Select the Installation tab. 10. Select OnRobot FT Setup. 11. The welcome screen of the newly installed OnRobot Force Torque Sensor URCap plugin is shown. 12. The OnRobot Hand Guide Toolbar is now also visible. Continue with URCap Plugin Setup.
  • Page 17 IP and serial number. • Connected sensors can be discovered by pressing the Discover Devices button. • The selected OnRobot device must be tested first. • General information about the tested device. • IP and Subnet mask of the currently used UR robot.

  • Page 18: Example Setup

    Getting Started 18 The OnRobot Force Torque Sensor URCap plugin must be enabled (as the screen above is shown). If the plugin is not enabled, the button shown under mark A has the text ENABLE ALL FEATURES. Press the button, then start the toolbar with the Enable Overlay button (mark B).
  • Page 19 Getting Started 19 The following information is shown on this screen: • A message indicating that the OnRobot commands can be used in your own UR programs. • A drop-down list with the pairs of the Compute Box IP addresses and the Sensor Serial Numbers available in the network.

  • Page 20: Using The Urcap Plugin

    3.1 OnRobot Feedback Variables Simple features are demonstrated in this section through an example program. The program shows how to gain data from the OnRobot sensor and how to zero the Force/Torque values of the sensor. 1. Click on Program Robot.
  • Page 21 Using the URCap Plugin 21 5. Select the Wait command in the program structure. 6. Select the Command tab. 7. Set the Wait to 0.01 seconds. 8. Press the Play button to execute program. 9. Select the Variables tab. OnRobot © 2018 www.onrobot.com...
  • Page 22 Compute Box Robot Controller communication, since the last program start • of_return: the variable used to store the outcome of OnRobot commands • tFT: Force and torque values calculated in the Tool Coordinate system, in an array in Newton (N) and Newton Meter (Nm) OnRobot ©...

  • Page 23: Effects Of The Tcp Position

    After turning on the UR robot, the start screen of the PolyScope is visible. After 20 seconds, if it is activated, the OnRobot Hand Guide Toolbar appears (mark A). It is normal to have a yellow warning signal during the boot-up for a few seconds.
  • Page 24 To start hand guiding the UR robot, first make sure that you do not touch the tool and then press and hold the Enable button, wait until the Enable button turns green and drive the robot by hand with the help of the OnRobot sensor. The Enable button has changed (background color is now green).

  • Page 25: Onrobot Urcap Commands

    This allows the user to set the tool to face precisely horizontally, or vertically, after guiding by hand. 3.3 OnRobot URCap Commands 3.3.1 F/T Center Command It moves the robot along the given axis until it finds an obstacle (section A). After the collision, it moves to the opposite direction until another collision is reached (section B).

  • Page 26: F/T Control Command

    F/T Control is executed. The F/T Control command does not control forces in the direction that the tool is moving using the F/T Move and the F/T Search commands. OnRobot © 2018 www.onrobot.com...
  • Page 27 P Gain T: The torque controller can be tuned with this proportional gain parameter. If any overshoots or vibrations occur, try lowering the gain value (e.g.: 0.5). Show advanced parameters checkbox: If checked then more options become available: OnRobot © 2018 www.onrobot.com...
  • Page 28 I Gain: The integral term produces a correction that is proportional to both, the magnitude, and duration of the past error values. Increasing this parameter, has the following effects: faster reaction, overreaction, lower error, stability degradation. OnRobot © 2018 www.onrobot.com...

  • Page 29: F/T Destack Command

    (for example: closing the gripper). It tracks how many items are destacked that makes easy to handle if the stack is empty. It also works with items that has varying item thickness. OnRobot © 2018 www.onrobot.com...
  • Page 30 Begin at SP: If enabled, the command will start with moving to the Starting position (SP) at the beginning of its execution. End at SP: If enabled, the command will exit with moving to the Starting position (SP) at the end of its execution. OnRobot © 2018 www.onrobot.com...

  • Page 31: F/T Fix And Rotate Command

    X, Y, and Z axis checkboxes: Insertion is performed along the Z axis of the Tool coordinate system. To adopt to any positioning error, the remaining axes (X and Y for the translation and X, Y, and Z for the rotation) can be set to move freely. OnRobot © 2018 www.onrobot.com...
  • Page 32 Torque goal: The set torque value that is going to stop the rotational phase. Rotational speed (rad/s): The rotational speed during the rotational phase. Use custom value for torque goal: Check it to be able to set a custom torque goal. OnRobot © 2018 www.onrobot.com...

  • Page 33: F/T Guard Command

    The values equal to zero are neglected. If the Absolute option is enabled, then it is not important whether the entered value is positive or negative (e.g.: stop if |Fz| > = 3), OnRobot © 2018 www.onrobot.com...

  • Page 34: F/T Insert Box Command

    Make sure that the F/T Zero command is used before the F/T Insert Box is executed and the tool is not in contact with any object (the force/torque reading is zero). OnRobot © 2018 www.onrobot.com...
  • Page 35 This global variable can be used with the UR’s built in If conditional expressions (for example: if of_return == 1 then do something). For return values, see F/T Insert Box Command Return Values. OnRobot © 2018 www.onrobot.com...

  • Page 36: F/T Insert Pin Command

    ‘bump’, an increase in the pushing force is expected (such as closing a snap-fit joint). This parameter is the additional force on top of Pushing force that the insertion is performed with, between the minimum and maximum depths. Show advanced parameters checkbox: If checked then more options become available: OnRobot © 2018 www.onrobot.com...

  • Page 37: F/T Move Command

    F/T Path to move the robot along a Path, and stop once the defined force/torque limits are reached (movement interrupted). In this case a warning can be generated. If the movement reaches the last waypoint, the move is successful. OnRobot © 2018 www.onrobot.com...
  • Page 38 TCP pose button to specify the orientation of the coordinate system, by the orientation of the current TCP. To demonstrate the given orientation, the Rotate tool to this orientation [HOLD] button can be used. Show advanced parameters checkbox: If checked then more options become available: OnRobot © 2018 www.onrobot.com...

  • Page 39: F/T Path Command

    For return values, see F/T Move Command Return Values. 3.3.9 F/T Path Command The F/T Path command is used together with the F/T Move or F/T Search command, to record and replay a Path. OnRobot © 2018 www.onrobot.com...
  • Page 40 Path, it can only be used if the path is not relative. Start Path Replay button: Replays the Path, even if it is not saved, only stored in the memory. Stop Path Replay button: Stops replaying the Path. OnRobot © 2018 www.onrobot.com...

  • Page 41: F/T Search Command

    (eg.: Fz > = 3 or Fz <= -3) Speed: The movement speed while searching for collision. The movement is carried out in a constant translational speed. If the route or path has sharp changes in the OnRobot © 2018 www.onrobot.com...

  • Page 42: F/T Stack Command

    Make sure that the F/T Zero command is used before the F/T Stack is executed and the tool is not in contact with any object (the force/torque reading is zero). OnRobot © 2018 www.onrobot.com...
  • Page 43 Speed: The movement speed while searching for the stack top. (m/s, rad/s) The slower the speed during the searching phase is the better to work with hard contacts (such as metal surfaces) to avoid overshoots due to the robot’s and the tool's momentum. OnRobot © 2018 www.onrobot.com...

  • Page 44: F/T Waypoint Command

    Do not use consecutive F/T Waypoints that only contain rotations in the same F/T Move command. Use more than one F/T Move commands to achieve rotations without translational movements. Waypoint type: The type of the waypoint. It can be set to Fixed, Relative or Variable. OnRobot © 2018 www.onrobot.com...
  • Page 45 Move robot to pose [HOLD] button: moves the robot to the pose set in the Target TCP pose field. Variable: The position represented by the waypoint in the robot route. The target pose can be defined by a variable. OnRobot © 2018 www.onrobot.com...

  • Page 46: F/T Zero Command

    This command can bias the force and torque values of the sensor. Make sure that the tool is not in contact with any object. Follow this procedure to add the command: 1. Select the Structure tab. 2. Select the URCaps tab within the Structure page. OnRobot © 2018 www.onrobot.com...

  • Page 47: Tcp Offset Propagation

    1. F/T Control: This command is similar to the UR’s built-in Force command, but uses the OnRobot more precise force/torque sensor as an input to achieve an excellent result even with low forces. The force/torque control tries to keep the defined force/torque constant on the axes that are set to be compliant.

  • Page 48: Stacking And Destacking

    1. F/T Stack: This command is similar to the UR’s built-in Stacking (Seek) command, but uses the OnRobot precise force/torque sensor as an input to achieve an excellent result even with low forces. The items are moved to the next stack position and also monitors whether the stack is full or not.

  • Page 49: Pin Insertion

    Inserting pins or pegs into tight holes cannot be achieved with traditional position based solutions. Even with cameras one cannot have a robust solution. With the help of the precise OnRobot F/T sensor and the F/T Insert Pin command anyone can easily and robustly solve tasks that requires precision fitting.

  • Page 50: Fix And Rotate

    Using the URCap Plugin 50 3.5.8 Fix and Rotate With the help of the precise OnRobot F/T sensor and the F/T Fix and Rotate command anyone can easily and robustly solve tasks that requires using any Bayonet type of mounting.

  • Page 51: Glossary Of Terms

    4 Glossary of Terms Term Description Compute Box A unit provided by OnRobot along with the sensor. It performs the calculations needed to use the commands and applications implemented by OnRobot. It needs to be connected to the sensor and the robot controller.

  • Page 52: List Of Acronyms

    Dynamic Host Configuration Protocol dual in-line package Force/Torque Identifier Internet Protocol Information technology media access control Personal Computer Roll-Pitch-Yaw Starting Position software Tool Center Point Universal Robots URCap Universal Robots Capabilities Universal Serial Bus unshielded twisted pair OnRobot © 2018 www.onrobot.com...

  • Page 53: Appendix

    6.1 Changing the IP of the Compute Box To change the IP address of the sensor, connect your laptop or an external PC to the OnRobot Compute Box. 1. Make sure that the device is not powered. Connect the device and the computer with the provided Ethernet cable.
  • Page 54 5. Click on Network Configuration in the left-side menu. The following screen is displayed: 6. Uncheck the Enable DHCP client checkbox, if it is checked. 7. Edit the IP Address. 8. Set DIP switch 3 to off position. OnRobot © 2018 www.onrobot.com...

  • Page 55: Updating The Software On The Compute Box

    Refer to the Compute Box Description document. 6.3 Software Uninstallation 1. To uninstall (remove) the previously copied OnRobot UR program files, choose from the following options: a. Remove the files and folder, using the Delete option of the Teach Pendant during file operation (for example, Load Program, Save Program) b.

  • Page 56: F/T Destack Command Return Values

    The Fix and Rotate finished with no error. The Orientation centerpoint search of Ry was unsuccessful. The Orientation centerpoint search of Ry was unsuccessful. The rotation was unsuccessful, collision occurred. The rotation ended without contact. Parameter error. OnRobot © 2018 www.onrobot.com...

  • Page 57: F/T Guard Command Return Values

    The Insert Pin command exited due to too high side-forces/-torques at the non-compliant axes after the minimal insertion depth. The Insert Pin command exited due to too high side-forces/-torques at the non-compliant axes before the minimal insertion depth. OnRobot © 2018 www.onrobot.com...

  • Page 58: F/T Move Command Return Values

    The search cannot start, because the Path file is corrupted. 6.4.11 F/T Stack Command Return Values Return values: One iteration of the stacking is complete. The iteration counter is over the maximum: the stack is full. OnRobot © 2018 www.onrobot.com...

  • Page 59: F/T Waypoint Command Return Values

    The movement to the next element was unsuccessful, a collision occurred. The movement to the starting point was unsuccessful, a collision occurred. 6.4.12 F/T Waypoint Command Return Values This command has no return value. 6.4.13 F/T Zero Command Return Values This command has no return value. OnRobot © 2018 www.onrobot.com...

  • Page 60: Troubleshooting

    This error can happen, when the Network Configuration of the UR Robot has not been finished. The Network Configuration might not be finished when you select the OnRobot Setup page just after turning on the robot or when the Network Configuration has just been modified and the OnRobot Setup page is selected within 60 seconds.
  • Page 61 11. Press the Setup Network button. 12. If the network of the UR is disabled: 13. If the OnRobot device is connected to the UR robot directly, select DHCP, and press the Apply button (mark 4). The OnRobot service assigns an IP.
  • Page 62 Appendix 62 14. If the OnRobot device is not directly connected to the UR robot, check if the OnRobot device is connected to the same network (router, switch, and so on) as the UR Robot, or consult the Network Supervisor.

  • Page 63: Discovery Tool Was Able To Find Onrobot Device Available In The Network

    DIP Switch 3 is in off state on the Compute Box, as shown on the following figure: 2. If the DIP Switch is in on state, set it to off, then restart the OnRobot device (by disconnecting the power) and repeat the steps in Example Setup section.

  • Page 64: Too Close To Singularity

    1. Open the Setup Network page of the UR robot explained in “The Robot has no IP address”. 2. Modify the Subnet mask to the Hint value provided in the beginning of “Discovery Tool was able to find OnRobot Device available in the Network”, in this example to “255.255.0.0”. 3. Press the Apply button.

  • Page 65: Warning Sign On Hand Guide Bar

    Appendix 65 6.5.4 Warning sign on Hand Guide Bar If the installed OnRobot Hand Guide Service is not running properly, a warning sign appears (mark A). In case this warning appears check the following: The toolbar warning is visible (mark 3), so the OnRobot Service could not be started.

  • Page 66: Path Replay Is Slower Than Expected

    If a Path cannot be saved due to not enough storage space on the Compute Box, the “Error number -3” error message is displayed. In this case, delete previously recorded paths that are not used anymore. OnRobot © 2018 www.onrobot.com...

  • Page 67: Editions

    Program Stop, pausing and continuing program no longer causes alarm. Section Effects of the TCP Position added. socket_read_byte_list(): timeout log item changed to socket_read_binary_integer: timeout, behavior changed. Section “Socket vectorStream opening was unsuccessful.” added to Troubleshooting. OnRobot © 2018 www.onrobot.com...
  • Page 68 -3” on Path Saving added. Editorial changes. Edition 9 Important Safety Notice added. Warning Symbols added. Screenshots updated. Note added to warn against rotating the sensor cable in section Cable Connections. Edition 10 Hex v2 information added. OnRobot © 2018 www.onrobot.com...

This manual is also suitable for:

Hex-h v1Hex-e v2Hex-h v2

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