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Table of Contents
Related Manuals for OnRobot Gecko SP1
Summary of Contents for OnRobot Gecko SP1
- Page 1 USER MANUAL FOR UR ROBOTS v1.4.1 Original Instructions...
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Page 2: Table Of Contents
3.2.2.1. Quick Changer - Robot Side.................. 9 3.2.2.2. Gecko SP1/3/5......................9 3.2.3. Tools............................9 3.2.3.1. Gecko SP1/3/5......................9 4. SW Installation..........................11 4.1. Gecko SP1/3/5 SW Installation.......................11 5. Operation............................12 5.1. Gecko SP Operation........................12 5.1.1. How the Gecko SP Works....................12 5.1.2. TCP Setup..........................14 5.2. - Page 3 6.2.4.1. Gecko SP1/3/5......................23 6.3. COG, TCP............................24 6.3.1. Gecko SP1/3/5........................24 6.3.2. Angle Bracket........................24 7. Maintenance..........................27 7.1. Gecko SP1/3/5..........................27 7.1.1. Replacing the Gripper Pads....................28 7.1.2. Replacing the Spring /Greasing the Bearing............... 28 8. Troubleshooting..........................30 8.1. Tool Functions Are Not Available....................30 8.2.
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Page 4: Introduction
Gecko SP1/3/5 1.3. 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 5: 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 6: 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 7: 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 8: Hw Installation
HW INSTALLATION 3. HW Installation 3.1. 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. 3.2. Robot Mount 1. Mount the robot-specific adapter (if applicable) 2. -
Page 9: 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. 3.2.2.2. Gecko SP1/3/5 Tool QC-R v2 QC-R v2-4.5 A Gecko SP1/3/5 3.2.3. Tools 3.2.3.1. - Page 10 HW INSTALLATION 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.
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Page 11: Sw Installation
SW INSTALLATION 4. SW Installation 4.1. Gecko SP1/3/5 SW Installation To use the Gecko SP1/3/5 gripper no URCap is required. -
Page 12: Operation
OPERATION 5. Operation NOTE: It is assumed that the Installation has finished successfully. If not, first do the installation steps in the previous section. 5.1. Gecko SP Operation The Gecko SP is a gripper that uses gecko-inspired adhesion to pick up flat objects without an external power source such as an air system. - Page 13 OPERATION When teaching the pickup position, the gecko pad needs to be aligned on the workpiece surface without compressing the spring. The MIN sign of the preload indicator can be used for checking. To pick up a workpiece the robot needs to be moved down a maximum of 4 mm to apply the required preload.
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Page 14: Tcp Setup
OPERATION To peel off the Gecko SP pad from the workpiece, the tool needs to be turned about 10 degrees around a set point on the pad’s outer diameter while the object rests on a stiff surface that resists the rotation. Therefore, it is very important to set the right TCP (Tool Center Point) before the peeling motion. -
Page 15: Urscript Commands
OPERATION 5.2. URScript Commands URScript commands can be used alongside other scripts. 5.2.1. Gecko SP1/3/5 5.2.1.1. Grip and Release An example file is provided on the USB stick that demonstrates how to grip and release, with the help of the previously set TCP. -
Page 16: Hardware Specification
HARDWARE SPECIFICATION 6. Hardware Specification 6.1. Technical Sheets 6.1.1. Gecko SP1/3/5 General Properties Unit [kg] Maximum Payload [lb] Minimum Preload Medium Maximum Detachment time 100-1000 (dependent on robot speed) [ms] Holds workpiece on power loss? Yes, for days if well centered... - Page 17 It is also possible for users to craft their own custom fixture to assist in peeling off an object if the above method is not desirable. For example, the Gecko SP1/3/5 could grip a panel and then visit a forked tool to slide between, move up and release the object. The fixture design is completely at the user’s discretion.
- Page 18 (scales of 1, 5 and 10 – the highest) versus the payload of the Gecko SP1, SP3 and SP5. Green indicates that it is possible to pick this object, yellow is questionable and red does not result in a pick. The scale is relative and semi- arbitrary, meant to act as a general guide.
- Page 19 HARDWARE SPECIFICATION Stiffness Roughness Example of material / substrate Gecko SP-1 Cling film, ziploc bags Glossy carboard (cereal box) Printed circuit board Laminating plastic / film Corrugated cardboard Sandblasted aluminum Stiffness Roughness Example of material / substrate Gecko SP-3 Payload [kg] 0.75 1.5 Loose Mylar Transparency sheet...
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Page 20: Mechanical Drawings
HARDWARE SPECIFICATION NOTE: These tables are to be utilized as a guide to better understand the payload capacity and substrate type for the Gecko Gripper SP1/3/5. The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks used to determine the values. -
Page 21: Angle Bracket
HARDWARE SPECIFICATION 6.2.2. Angle Bracket * Distance from Robot flange interface to OnRobot Quick Changer. All dimensions are in mm and [inches]. -
Page 22: Mountings
HARDWARE SPECIFICATION 6.2.3. Mountings 6.2.3.1. 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 23: Quick Changer For I/O - Robot Side
HARDWARE SPECIFICATION 6.2.3.2. Quick Changer for I/O - Robot Side * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches]. 6.2.4. Tools 6.2.4.1. Gecko SP1/3/5 All dimensions are in mm and [inches]. -
Page 24: Cog, Tcp
HARDWARE SPECIFICATION 6.3. COG, TCP COG, TCP, and weight parameters of the single devices (without any mounting/adapter): 6.3.1. Gecko SP1/3/5 Coordinate system TCP [mm] Center of Gravity [mm] Weight X = 0 cX = 0 0.262 kg Y = 0 cY = -1 0.577 lb... - Page 25 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 26 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°...
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Page 27: Maintenance
7. 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 28: Replacing The Gripper Pads
MAINTENANCE 7.1.1. Replacing the Gripper Pads • Unscrew previous pad in the counterclockwise direction (by hand if possible, if stuck then use pliers or a pipe wrench) Leave protective film on new pad during installation. • Screw on new pad firmly by hand, being careful not •... - Page 29 MAINTENANCE WARNING: The springs are color coded, make sure to use the right replacement spring for your gripper. Gecko SP1 spring - Zinc • Gecko SP3 spring - Gold • • Gecko SP5 spring - Uncoated...
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Page 30: Troubleshooting
TROUBLESHOOTING 8. Troubleshooting 8.1. Tool Functions Are Not Available If the tool functions are not available (grayed out) in the program, return to the Installation tab > URCaps > Device info and then back to the program. 8.2. Error During Operation If an error occurs during operation, try the following: 1. -
Page 31: 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 32: Certifications
CERTIFICATIONS 10. Certifications... -
Page 33: Emc
CERTIFICATIONS 10.1. EMC... -
Page 34: Declaration Of Incorporation
CERTIFICATIONS 10.2. Declaration of Incorporation 10.2.1. Gecko SP1/3/5...