OnRobot RG2 User Manual
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OnRobot RG2 User Manual

Industrial robot gripper
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Original
User Manual
By On Robot ApS
RG2
Industrial Robot Gripper

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Summary of Contents for OnRobot RG2

  • Page 1 Original User Manual By On Robot ApS Industrial Robot Gripper...

  • Page 2: Table Of Contents

    RG2 User Manual – version 1.44 Content Preface ....................... 1 Scope of delivery ....................1 Important safety notice ..................1 Introduction ....................2 Safety instructions ..................2 Validity and responsibility ..................2 Limitations of liability .................... 2 Warning symbols in this manual ................3 General warnings and cautions ................
  • Page 3 Analog feedback ........................20 7.4.3 LED feedback ........................20 Two Grippers ...................... 21 Add RG2 to existing robot program ..............22 Declarations and certificates ..............25 CE Declaration of Incorporation (original) ............25 Specifications is periodically reviewed and may change without notice...

  • Page 4: Preface

    Congratulations on your new RG2 Industrial Robot Gripper. The RG2 is an electrical industrial robot gripper that can handle a variation of different object sizes. Typically for pick and place applications. The gripping force as well as the gripping width can be preset to custom requirements.

  • Page 5: Introduction

    The standard fingers can be used with many different objects, but it is also possible to fit custom fingers. The installation complexity is minimal as the RG2 cable attaches directly onto any supported robot. All configuration of the gripper are controlled in the robot software.

  • Page 6: Warning Symbols In This Manual

    RG2 User Manual – Version 1.44 Warning symbols in this manual DANGER: This indicates a serious dangerous situation which, if not avoided, could result in death or injury. WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

  • Page 7: General Warnings And Cautions

    8. If the gripper is used in applications were it is not connected to a UR robot. Make sure the connections resembles the analog input, digital in and outputs and the power connections. Make sure you use a RG2 gripper programming script that are adapted to fit your specific application.

  • Page 8: Intended Use

    The RG2 gripper is intended for use with robots from Universal Robots. The information in this manual about electrical connections, programming and use of the gripper are described only for robots from Universal Robots.

  • Page 9: Mechanical Interface

    RG2 User Manual – Version 1.44 4 Mechanical interface The Gripper is constructed such a way that should a power loss occur, it will maintain the gripping force. Mounting the gripper The design of the standard gripper coupling is in such a way, that the angle of the gripper can be adjusted from 0°...

  • Page 10: Mechanical Dimensions

    RG2 User Manual – Version 1.44 Mechanical dimensions The dimensions are in millimeters Specifications is periodically reviewed and may change without notice Copyright © 2015 – 2016 by On Robot ApS. All rights reserved...

  • Page 11: Load Capacity

    RG2 User Manual – Version 1.44 Load capacity Be aware that when grapping an object, some of the parameters below are not directly aplicative. But can be used to calculate the load on the gripper. Parameter Static Unit 7,55 [Nm]...

  • Page 12: Gripper Work Range

    RG2 User Manual – Version 1.44 Gripper Work Range The work range is measured between the aluminum fingers. The gripper can be used for both internal and external grip, e.g. by rotating the fingers. Make sure that the offset is included before entering values into the gripper settings.

  • Page 13: Electrical Interface

    Make sure the connections resembles the analog input, digital in and outputs and the power connections. ii. Make sure you use a RG2 gripper programming script that are adapted to fit your specific application. For more information, please contact your supplier.

  • Page 14: Technical

    RG2 User Manual – Version 1.44 6 Technical Technical Specifications Technical data Typical Units Total stroke (adjustable) [mm] Finger position resolution [mm] Repetition accuracy [mm] Reversing backlash [mm] Gripping force (adjustable) Gripping force accuracy ±0,05 ±1 ±2 Gripping speed* [mm/s]...

  • Page 15: Gripper Programming

    Quick Start The easiest way to start using the RG2 gripper is by using the RG2_Template.urp file. When done the robot will open and close the gripper. Alternatively the gripper can be used in teach mode, see 7.3.2 Teach Mode Mount and connect the gripper and turn on the robot.
  • Page 16 If the gripping force needs to be adjusted, or another set of open and close width needs to be added, the RG2 settings folder can be unfolded. The variable Force_ controls the gripping force for Open and Close width, the unit Specifications is periodically reviewed and may change without notice Copyright ©...

  • Page 17: Programming Introduction

    7.3.1 Control variables. Programming introduction When the RG2 gripper is powered on, it will receive its programming parameters. These parameters are stored in the control variables; Close, Open, Force_, Close2, Open2, Force2 and they are transferred by the program_RG2.script (see 7.3.1 Control variables).

  • Page 18: Gripper Control

    7.3.3 Control script/functions The RG2 gripper can be controlled directly through tool_out[0] and tool_out[1] (see 7.3.4 Control outputs signals). The typical use case is that the robot should wait until the gripper is done with operation. That functionality is implemented in a couple of script functions delivered by On Robot.

  • Page 19: Adding A Script File

    RG2 User Manual – Version 1.44 The script open.script implements exactly the same functionality as the function open(), but there are small differences by adding the script files vs. the functions. The functions can be tracked in the program tree while executing, but it cannot be single stepped.
  • Page 20 RG2 User Manual – Version 1.44 With the new Script highlighted, go to the Command tap, click on the Dropdown menu in the upper right corner and select File. Then click on Edit, right under the dropdown menu. In the File Editor, click on Select File In the Load Text File window click on the bottom dropdown menu and select All Files.

  • Page 21: Adding A Function

    RG2 User Manual – Version 1.44 Click SAVE & EXIT in the File Editor, Press Step to execute the added script file. 7.3.3.2 Adding a function Select the place In the Robot Program in the program tree were you want the gripper to perform an action.

  • Page 22: Control Outputs Signals

    (see 7.3.3 Control script/functions). Gripper feedback As with the control of the RG2 gripper, the feedback can be read directly from the input signals tool_in[0], tool_out[1], analog_in[2] and analog_in[3], but the feedback could also be read from the feedback variables grip_detected, lost_grip and measure_width.

  • Page 23: Feedback Variables

    Width between the fingers of the gripper 7.4.2 Feedback input signals The RG2 feedback can be read directly from the input signals tool_in[0], tool_out[1], analog_in[2] analog_in[3]. Digital feedback cover the functionality of tool_in[0], tool_out[1]. And Analog feedback covers analog_in[2] and analog_in[3].

  • Page 24: Two Grippers

    RG2 User Manual – Version 1.44 Two Grippers When one gripper is connected to another via the gripper output connector. The first gripper in the chain (from the robot) becomes master and the second slave. This makes it possible to use both grippers individually using only two digital outputs from the robot.

  • Page 25: Add Rg2 To Existing Robot Program

    RG2 User Manual – Version 1.44 Add RG2 to existing robot program If you want to add the RG2 functionality to an existing robot program, open the program you want to modify and follow the below steps. Check the box Add BeforeStart Sequence. (if not already checked) Mark the “empty”...
  • Page 26 RG2 User Manual – Version 1.44 With Call marked. Go to the command tap. Select Create New from the dropdown menu. Select Load File Make sure the gripper software is available, the software is on the included USB flash. Select and open RG2_SubProg.urp Specifications is periodically reviewed and may change without notice Copyright ©...
  • Page 27 RG2 User Manual – Version 1.44 Select the variables that need to change. In this case the first one Open:=110 Go to the Command tap Click on the Expression (on “110”) box on the right to change the variables. Repeat this for the other variables (see 7.3.1 Control variables).

  • Page 28: Declarations And Certificates

    2006/42/EC. A comprehensive risk assessment must be carried out for each application as part of ensuring that all essential requirements are fulfilled. All essential requirements must be assessed. Instructions and guidance provided in the RG2 user manual must be followed.

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