OnRobot DOOSAN Gecko Gripper User Manual
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OnRobot DOOSAN Gecko Gripper User Manual

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USER MANUAL
FOR DOOSAN ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.02

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Summary of Contents for OnRobot DOOSAN Gecko Gripper

  • Page 1 USER MANUAL FOR DOOSAN ROBOTS ORIGINAL INSTRUCTION (EN) v1.02...

  • Page 2: Table Of Contents

    4.3.4 Power supply ........................21 5 Operation ..........................23 5.1 Overview ............................23 5.2 Ethernet Interface setup ......................24 5.3 Web Client ..........................26 5.4 OnRobot WebLogic menu ......................28 5.4.1 Browser ...........................28 5.4.2 Program Editor ........................29 6 Additional Software Options ....................35 6.1 Compute Box ..........................35 6.1.1 Interfaces.........................35...
  • Page 3 Introduction 7 Hardware Specification ......................63 7.1 Technical sheets ........................63 7.2 Mechanical Drawings ........................89 7.2.1 Adapter plate(s) ......................89 7.2.2 Mountings ........................89 7.2.3 Tools ..........................92 7.3 Center of Gravity ........................99 8 Maintenance ........................100 9 Warranties ........................... 103 9.1 Patents .............................103 9.2 Product Warranty ........................103 9.3 Disclaimer ..........................103 10 Certifications ........................

  • Page 4: 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 its components: Grippers Version Sensors...

  • Page 5: How To Read The Manual

    1.4 How to read the Manual The manual covers all OnRobot products and its components that is available for your robot. To make it easy to follow what type of product (or combination) or component is the given information is relevant for, the following visual highlights are used: This is an instruction relevant for the RG2 product only.

  • Page 6: Safety

    • Collecting all documentation in a technical file; including the risk assessment and this manual 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 7: General Safety Instructions

    20 and 40 Celsius degrees for 24 hours before power is applied or before connected to a robot. It is recommended that OnRobot tools are integrated in compliance with the following guides and standards: • ISO 10218-2 •...

  • Page 8: Risk Assessment

    In collaborative applications, the trajectory of the robot can play a significant safety role. The integrator must consider the angle of contact with a human body, e.g. orientate OnRobot tools and workpieces so that the contact surface in the direction of movement is as large as possible. It is recommended that the tool connectors are pointed in the direction opposite to the movement.

  • Page 9: Pld Cat3 Safety Function

    Safety 2.5 PLd CAT3 Safety Function A safety-rated function has been designed as two buttons at the two arms of the product, conforming to ISO 13849-1 PLd CAT3. This Safety Function has a max response time of 100 ms and a MTTF of 2883 years. The behavior of the safety system is described below: If something activates the two Safety Buttons, see picture below, the safety control system stops motion of the two arms of the product.

  • Page 10: Operation Mode(S)

    These "logics" can be programmed through the Compute Box's web interface called Web Client. It requires only a normal computer with a browser. In this document this mode of operation will be covered and will be referred to as: • OnRobot WebLogic...

  • Page 11: Installation

    Installation Installation 4.1 Overview For a successful installation the following steps will be required: • Mount the components • Wire the cables • Setup the software In the following sections, these installation steps will be described. 4.2 Mounting Required steps: •...

  • Page 12: Quick Changer Options

    Installation 4.2.1 Quick Changer options Quick Changer - Robot Side Quick Changer - Robot Side M6x8mm (ISO14580 8.8) Quick Changer (ISO 9409-1-50-4-M6) Dowel pin Ø6x10 (ISO2338 h8) Adapter/ Robot tool flange (ISO 9409- 1-50-4-M6) Use 10 Nm tightening torque. Dual Quick Changer Dual Quick Changer M6x20mm (ISO14580 8.8) Dual Quick Changer...
  • Page 13 Installation HEX-E/H QC HEX-E/H QC HEX-E/H QC sensor M4x6mm (ISO14581 A4- M6x8mm (NCN20146 A4- HEX-E/H QC adapter Adapter/ Robot tool flange (ISO 9409-1-50-4- Use 1.5 Nm tightening torque. for M4x6mm Use 10 Nm tightening torque. for M6x8mm...

  • Page 14: Tools

    Installation 4.2.2 Tools Gecko ..........14 Quick Changer - Tool side ....15 RG2 ..........15 RG2-FT ..........16 RG6 ..........16 VG10 ..........17 Gecko Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted.
  • Page 15 Installation Quick Changer - Tool side Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted. Step 2: Flip the tool until it is fully mated, and you hear a clicking sound.
  • Page 16 Installation RG2-FT Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted. Step 2: Flip the tool until it is fully mated, and you hear a clicking sound.
  • Page 17 Installation VG10 Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted. Step 2: Flip the tool until it is fully mated, and you hear a clicking sound.

  • Page 18: Wiring

    Then, connect the other end to the Compute Box's DEVICES connector. CAUTION: Use only original OnRobot tool data cables. 4.3.2 Digital I/O wires For Doosan robots, the I/O interface (TBCI 1-2, TBC0 1-2 ) inside the control cabinet can be used connect...
  • Page 19 Installation Make sure that the robot is powered off completely. Configure the Compute Box DIP switches (red) to PNP: For PNP type set the 1. and 2. DIP switches to OFF position (down). DIP switch 1: Digital Input mode DIP switch 2: Digital Output mode NOTE: Do not change the DIP switch 3 and 4 otherwise the network settings will be changed.
  • Page 20 Installation CAUTION: The 24V and GND pins are only Reference Voltage Output. It cannot be used to power any equipment. It is recommended to use the supplied wires only. If it is necessary to use different wire, use one that is shorter than 3 m. Connect the Compute Box inputs to the robot outputs and the Compute Box outputs to robot inputs.

  • Page 21: Ethernet Cable

    UTP cable. This connection is only needed for programming. CAUTION: Use only original OnRobot ethernet cables or replace it with one that is shielded and no more than 3 meter long . WARNING: Check and make sure that the Compute Box enclosure (metal) and the robot controller enclosure (metal) are not connected (no galvanic connection between the two).
  • Page 22 Installation Finally, power up the power supply that will power the Compute Box and the connected Tool(s).

  • Page 23: Operation

    5.1 Overview OnRobot WebLogic requires to be programmed first with the help of a computer connected to the Compute box. Then it can run standalone without any Ethernet connection. Steps to program it: •...

  • Page 24: Ethernet Interface Setup

    Operation 5.2 Ethernet Interface setup A proper IP address must be set for the Compute Box and the robot/computer to be able to use the Ethernet interface. There are three ways how it could be configured (using the DIP switch 3 and 4): •...
  • Page 25 Operation Fixed IP mode Set the DIP switch 3 and 4 in ON position and cycle the power for the changes to take effect. In this case the IP address of the Compute Box is set to 192.168.1.1 (subnet mask is 255.255.255).

  • Page 26: Web Client

    • Wait one minute for the Compute Box LED to turn from blue to green. • 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...
  • Page 27 Operation For the first login a new password needs to be entered: (password must be at least 8 characters long) Once logged in you can access top menus. Select WebLogic menu.

  • Page 28: Onrobot Weblogic Menu

    Operation 5.4 OnRobot WebLogic menu There are two tabs to choose from: • Browser - manage (import/export, etc.) the WebLogic programs • Program Editor - create/edit or run WebLogic programs In the following these two will be described. 5.4.1 Browser This tab lists the WebLogic programs that are stored on the Compute Box.

  • Page 29: Program Editor

    Operation 5.4.2 Program Editor This tab shows the currently edited WebLogic program. WebLogic programs contains 1 or more "rows". A row contains conditions (blue part) and commands (gray part) like this: (If) DI1=1 (Then) RG2-Width=77 (force=20N) (If the robot sets the Digital Input 1 (DI1) of the Compute Box to high, then open the RG2 gripper to 77 mm.) Another row in a program can be like this: (If)
  • Page 30 Operation NOTE: To make a program run automatically when the Compute Box is powered on just leave the program running while you power the Compute Box off. To start a new program click on the New button. • To add a new row click on the Add new conditions and commands.
  • Page 31 Operation NOTE: If no Digital Input type of condition is needed set DI1-DI8 to don't care. For Device specific values first set the Select device by clicking on the arrow icon. NOTE: The list contains only the connected devices. If you would like to select a device that is not currently connected check the Show all devices checkbox.
  • Page 32 Operation Digital outputs (DO1-DO8) can have the following three states: (click to cycle through the states) • - Don’t change • - set the Output bit to logic low • - set the Output bit to logic high List of Device specific values Gecko ..........
  • Page 33 Operation HEX-E/H QC Conditions Description Bias TRUE if the sensor has been zeroed (biased). F3D= √���� + ���� +���� F3D,T3D + ���� +���� T3D= √���� [Nm] Fx, Fy, Fz, Tx, Ty, Tz Actual force [N] and torque [Nm] values Commands Description Set to TRUE to zero the F/T sensor signals (not permanent, will revert on Bias...
  • Page 34 Operation RG2-FT Conditions Description Proximity (L,R) Actual values of the left and right fingertip proximity sensors [mm] Width Actual width of the gripper [mm] True if the gripper is in motion (can only accept new commands when not Busy busy) Grip Internal or external grip is detected.

  • Page 35: 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 36 • Devices - Monitor and control the connected devices (e.g.: grippers) • 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)
  • Page 37 Additional Software Options • - Account settings (e.g.: change password, add new user) • - Select the language of the Web Client In the following, these menus will be described. Devices menu To control/monitor a device click on the Select button. Gecko ..........
  • Page 38 Additional Software Options Gecko There is a force and an ultrasonic distance sensor in the gripper. The actual values of these sensors are: • Preload - the current forces acting on the pads (below 50N it displays 0N) • Object distance - how far the object is from the bottom of the gripper The state of the gripper could be: •...
  • Page 39 Additional Software Options NOTE: Preload threshold value set on this page is not stored permanently and are restored to the default value (90N) on power reset. If a part was detected and the object distance becomes > 18mm (part is lost) BEFORE the pads are set to be IN (normal release) the Pads worn warning is displayed in the Device info tab.
  • Page 40 Additional Software Options HEX-E/H QC The force and torque values (Fx,Fy,Fz and Tx,Ty,Tz) are shown in N/Nm. The Zero toggle switch can be used to zero the force and torque reading. NOTE: Zero value set on this page is not stored permanently and are restored to the default values on power reset.
  • Page 41 Additional Software Options RG2/6 The state of the gripper could be: • Busy - the gripper is moving • Grip detected - the set force limit is reached but the set width is not. The status of the two safety switch shows: •...
  • Page 42 Additional Software Options • Click on Power cycle to power all devices off and then on to recover. Fingertip offset must be set according to the current fingertips attached to the gripper. Offset is measured from the inner mating face of the bar metal fingertips. To save the value to the gripper permanently click Save.
  • Page 43 Additional Software Options 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 44 Additional Software Options VG10 The actual vacuum level for Channel A and Channel B can be seen in percentage (in the range of 0…80% vacuum). The actual value of the Power limit is shown in mA. The Power limit can be adjusted in the range of 0...1000mA with the slider. NOTE: The power limit set in this page is not stored permanently and always restored to the default value on power reset.
  • Page 45 Additional Software Options 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: •...
  • Page 46 Additional Software Options Compute Box settings: 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: •...
  • Page 47 Additional Software Options Paths menu NOTE: The Path feature may not be available to your robot type. This page can be used to import, export, and delete the previously recorded paths. In this way a Path can be copied to a different Compute Box. To import a previously exported Path (.ofp file) click on Import and browse for the file.
  • Page 48 Additional Software Options Update menu Start the software update by clicking on the Browse button to browse for the .cbu software update file. Then the Browse button will turn to Update. Click on that Update button to start the software update process: CAUTION: During the update process (takes about 5-10 minutes) DO NOT unplug any device or close the browser window.
  • Page 49 Additional Software Options Account settings This menu can be used to: • See the currently sign-id user • Go to Account settings • Sign-out Account settings: This page has two tabs: • My profile - to see and update the currently logged in users profile (e.g.: change password) •...
  • Page 50 Additional Software Options On the Users tab click on the Add new user button to add more users: 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 51: Modbus Tcp

    • DD (HH) where the DD is in decimal and the HH is in hexadecimal format. 6.2.1 Settings The table below shows the required settings to be used when communicating with the OnRobot's products over MODBUS TCP. Settings Modbus TCP server IP address Compute Box IP address (default is 192.168.1.1)

  • Page 52: Function Codes

    63 (0x3F) 6.2.2 Function codes OnRobot products currently support the function codes listed below. The products will respond with an appropriate exception code, if the function is not executed correctly. Please refer to MODBUS Application Protocol page 48 for detailed description of the different exception codes. Note that the product will provide no response if the settings are not correct.
  • Page 53 Additional Software Options Gecko ..........53 HEX-E/H QC ........55 RG2 ..........56 RG6 ..........56 RG2-FT ..........58 VG10 ..........61 Compute Box ........62 Gecko The table below provides an overview of the available MODBUS registers in the Gecko Gripper. All writable registers can be accessed using function codes 6, 16 or 23 and all readable registers can be accessed using function codes 3 or 23.
  • Page 54 Additional Software Options 257 (0x0101) Pads worn (Read only) Reads high (0x0001) when the pads need to be replaced. 260 (0x0104) Busy (Read only) Reads high (0x0001) when pads are in motion otherwise reads low (0x0000). 261 (0x0105 ) Actual preload force (Read only) Reads the actual preload force in 1/100 N.
  • Page 55 Additional Software Options HEX-E/H QC The table below provides an overview of the available MODBUS registers in the HEX-E/H QC. All writable registers can be accessed using function codes 6, 16 or 23 and all readable registers can be accessed using function codes 3 or 23. Address Register Access...
  • Page 56 Additional Software Options The table below provides an overview of the available MODBUS registers in the RG2/6. All writable registers can be accessed using function codes 6, 16 or 23 and all readable registers can be accessed using function codes 3 or 23. Address Register Access...
  • Page 57 Additional Software Options 263 (0x0107) Actual depth (Read only) Indicates the current depth of the gripper, to be used for depth compensation. The depth is relative to the fully closed position, provided in 1/10 millimeters. Please note that the value is a signed two’s complement number.
  • Page 58 Additional Software Options RG2-FT The table below provides an overview of the available MODBUS registers in the RG2-FT. All writable registers can be accessed using function codes 6, 16 or 23 and all readable registers can be accessed using function codes 3 or 23. Address Register Access...
  • Page 59 Additional Software Options 2 (0x0002) Target force (Write) This field sets the target force to be reached when gripping and holding a workpiece. It must be provided in 1/10 Newtons. The valid range is 0 to 400. 3 (0x0003) Target width (Write) This field sets the target width between the finger to be moved to and maintained.
  • Page 60 Additional Software Options 264 (0x0108) Tz (L) (Read only) Left finger sensor's torque value about the Z axis (in the sensor coordinate system) in 1/100 Nm. The value is signed int. 266 (0x010A) Status (R) (Read only) Same as the left above. 268 (0x010C) Fx (R) (Read only) Same as the left above.
  • Page 61 Additional Software Options VG10 The table below provides an overview of the available MODBUS registers in the VG10. All writable registers can be accessed using function codes 6, 16 or 23 and all readable registers can be accessed using function codes 3 or 23. Address Register Access...
  • Page 62 Additional Software Options 258 (0x0102) Channel A actual vacuum (Read only) Reads the actual vacuum on Channel A. The vacuum is provided in (1/1000 of relative vacuum. Please note that this differs from the setpoint given in percent, as extra accuracy is desirable on the actual vacuum.

  • Page 63: Hardware Specification

    Hardware Specification Hardware Specification 7.1 Technical sheets Gecko ..........64 HEX-E QC ......... 67 HEX-H QC ......... 69 Quick Changer ......... 71 Quick Changer for I/O ...... 71 Dual Quick Changer......71 Quick Changer - Tool side ....71 RG2-FT ..........73 RG2 ..........
  • Page 64 Hardware Specification Gecko General Properties Unit Gripper Polished Workpiece Material Acrylic Glass Sheet Metal Steel [kg] Maximum payload (x2 safety factor) 14.3 14.3 12.1 12.1 [lb] Preload required for max adhesion Detachment time [msec] Holds workpiece on power loss? Pads 150 000 to 200 000 cycles for HIGH preload Change-out interval [cycles]...
  • Page 65 Hardware Specification Specification or Feature Target value Parts Presence Sensing Yes (Ultrasonic) Pad Material Proprietary silicone blend Wear Properties Depends on surface roughness and preload Pad Attachment Mechanism Magnetic 150000 – 200000 for HIGH PRELOAD Change-out interval 200000 – 250000 for LOW PRELOAD Cleaning system Cleaning station Cleaning interval and % recovery...
  • Page 66 Hardware Specification Preload - 140N Preload - 90N Preload - 40N Example of Stiffness Roughness Payload [kg] Payload [kg] Payload [kg] material 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 ✓...
  • Page 67 Hardware Specification HEX-E QC General Properties 6-Axis Force/Torque Sensor Unit Nominal Capacity (N.C) [N] [Nm] ± 1.7 ± 0.3 ± 2.5 ± 5 [mm] [°] Single axis deformation at N.C (typical) ± 0.067 ± 0.011 ± 2.5 ± 5 [inch] [°] Single axis overload Signal noise* (typical) 0.035...
  • Page 68 Hardware Specification The sensor cannot be operated outside of the Normal Operating Area. Txy & Fxyz Tz & Fxyz 4,875 3,25 Normal Normal 1,625 Operating Area Operating Area Fxyz (N) Fxyz (N)
  • Page 69 Hardware Specification HEX-H QC General Properties 6-Axis Force/Torque Sensor Unit Nominal Capacity (N.C) [N] [Nm] ± 0.6 ± 0.25 ± 2 ± 3.5 [mm] [°] Single axis deformation at N.C (typical) ± 0.023 ± 0.009 ± 2 ± 3.5 [inch] [°] Single axis overload Signal noise* (typical) 0.006...
  • Page 70 Hardware Specification The sensor cannot be operated outside of the Normal Operating Area. Txy & Fxyz Tz & Fxyz 9,75 Normal Normal 3,25 Operating Area Operating Area Fxyz (N) Fxyz...
  • Page 71 Hardware Specification Quick Changer Quick Changer for Dual Quick Changer Quick Changer - Tool side If not specified, the data represent the combination of the different Quick Changer types/sides. Technical data Typical Units Permissible force* 400* Permissible torque* [Nm] [kg] Rated payload* [lbs] Repeatability...
  • Page 72 Hardware Specification Load capacity Static Acceleration 2g Acceleration 4g 0,00 Distance from center [mm]...
  • Page 73 Hardware Specification RG2-FT General Properties Typical Units Payload Force Fit [kg] [lb] [Kg] [lb] Payload Form Fit [mm] Total stroke (adjustable) 3.93 [inch] [mm] Finger position resolution 0.004 [inch] [mm] Repetition accuracy 0.004 0.007 [inch] [mm] Reversing backlash 0.007 0.015 0.023 [inch] Gripping force (adjustable)
  • Page 74 Hardware Specification Proximity Sensor Properties Typical Units [mm] Sensing range 3.93 [inch] [mm] Precision 0.078 [inch] Non-linearity* * the non-linearity refers to the max value and depends on the object properties (e.g. surface type and color) Operating Conditions Minimum Typical Maximum Unit Power requirement (PELV)
  • Page 75 Hardware Specification RG2-FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters.
  • Page 76 Hardware Specification 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. Dimensions of the Gripper’s finger, in millimeters.
  • Page 77 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 78 Hardware Specification General Properties Minimum Typical Maximum Unit Payload Force Fit [kg] [lb] Payload Form Fit [kg] [lb] [mm] Total stroke (adjustable) 4.33 [inch] [mm] Finger position resolution 0.004 [inch] [mm] Repetition accuracy 0.004 0.007 [inch] [mm] Reversing backlash 0.004 0.011 [inch] Gripping force (adjustable)
  • Page 79 Hardware Specification RG2 Gripping Speed Graph RG2 Work Range...
  • Page 80 Hardware Specification Gripping on long objects can unintentionally activate the Safety switches. The maximum workpiece height (calculated from the end of the fingertips) is dependent on the gripping width (w). For various width values the height (h) limit is given below: Fingertips The standard fingertips can be used for many different workpieces.
  • Page 81 Hardware Specification General Properties Minimum Typical Maximum Unit Payload Force Fit [kg] 13.2 [lb] Payload Form Fit [Kg] 22.04 [lb] [mm] Total stroke (adjustable) [inch] [mm] Finger position resolution 0.004 [inch] [mm] Repetition accuracy 0.004 0.007 [inch] [mm] Reversing backlash 0.004 0.011 [inch]...
  • Page 82 Hardware Specification RG6 Gripping Speed Graph RG6 Work Range...
  • Page 83 Hardware Specification Gripping on long objects can unintentionally activate the Safety switches. The maximum workpiece height (calculated from the end of the fingertips) is dependent on the gripping width (w). For various width values the height (h) limit is given below: Fingertips The standard fingertips can be used for many different workpieces.
  • Page 84 Hardware Specification VG10 General Properties Minimum Typical Maximum Unit 80 % [Vacuum] Vacuum -0.05 -0.810 [Bar] [inHg] Air flow [Nl/min] Arms adjustment [°] Arm holding torque [Nm] [kg] Rated [lb] Payload [kg] Maximum [lb] Vacuum cups [pcs.] Gripping time 0.35 Releasing time 0.20 Foot-inch-foot...
  • Page 85 Hardware Specification Positioning the VG10 arms The arms can be folded to the preferred position simply by pulling in the arms. The torque needed to overcome the friction in the rotatable joints of the arm is high (6 N/m) to ensure that the arms do not move when handling 10 kg payloads.
  • Page 86 Hardware Specification The thread size is the commonly used G1/8”; allowing for standard fittings, blinders and extenders to be fitted directly to the VG10 arms and housing, see mechanical details in the 7.2. Choosing the right vacuum cups for your application is essential. The VG10 comes with common 30 mm silicone vacuum cups which are good for hard and flat surfaces, but not good for uneven surfaces and it might leave microscopic traces of silicone on the workpiece which can cause issues with some types of painting processes afterwards.
  • Page 87 Hardware Specification [ ���� ] ∙[ �� ⁄ ] ��∙�� 10∙2∙9.81 �� ������������ ���� �������� = =16 vacuum cups �� [ �� ] 12.2 ������ It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations, leaks and other unexpected conditions.
  • Page 88 Hardware Specification Leaking workpieces can be even harder to identify. Things that look completely tight might not be tight at all. A typical example is coarse cardboard boxes. The thin outer layer is often requiring a lot of air flow to create a pressure difference over it (see figure below).

  • Page 89: Mechanical Drawings

    No adapter plates are required. 7.2.2 Mountings Quick Changer - Robot side ....89 Dual Quick Changer......90 HEX-E QC ......... 91 Quick Changer - Robot side * Distance from Robot flange interface to OnRobot tool. All dimensions are in mm and [inches].
  • Page 90 Hardware Specification Dual Quick Changer * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
  • Page 91 Hardware Specification HEX-E QC * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].

  • Page 92: Tools

    Hardware Specification 7.2.3 Tools Gecko ..........92 RG2-FT ..........93 RG2 ..........94 RG6 ..........95 VG10 ..........96 Quick Changer - Tool side ....98 Gecko All dimensions are in mm and [inches].
  • Page 93 Hardware Specification RG2-FT All dimensions are in mm and [inches].
  • Page 94 Hardware Specification All dimensions are in mm and [inches].
  • Page 95 Hardware Specification All dimensions are in mm and [inches].
  • Page 96 Hardware Specification VG10 All dimensions are in mm and [inches].
  • Page 97 Hardware Specification All dimensions are in mm and [inches].
  • Page 98 Hardware Specification Quick Changer - Tool side All dimensions are in mm and [inches].

  • Page 99: Center Of Gravity

    Hardware Specification 7.3 Center of Gravity COG, TCP, and weight parameters of the single devices (without any mounting/adapter): Center of Gravity Devices Coordinate system TCP [mm] Weight [mm] cX=0 0.35 kg HEX-E/H QC cY=5 0.77 lb Z=50 cZ=20 2.83 kg cX=0 Gecko Gripper cY=0...

  • Page 100: Maintenance

    Use original spare parts, and original service instructions for the OnRobot's End of Arm Tooling and the robot. Failure to comply with this precaution can cause unexpected risks, resulting in severe injury. If you have questions regarding spare parts and repair, please visit our website www.onrobot.com...
  • Page 101 Maintenance Step 2: Insert the edge of the pad removal tool between the shiny silver plate of the pads and the dull backing plate. Leverage the pad removal tool against the gripper housing to pry off the used pad. Repeat for all pads.
  • Page 102 Maintenance RG2/6 WARNING: An overall inspection of the PLd CAT3 Safety Buttons must be performed regularly and at least once every 6 months. RG2-FT WARNING: Please clean the proximity sensor surface regularly with low pressure compressed air (<5 bar) from a 5 cm distance. For stronger contamination use isopropyl alcohol with a soft cotton swab to keep it clean.

  • Page 103: Warranties

    In case of a device exhibiting defects, OnRobot A/S shall not cover any consequential damage or loss, such as loss of production or damage to other production equipment.

  • Page 104: Certifications

    Certifications 10 Certifications...
  • Page 105 Certifications...

This manual is also suitable for:

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