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TripleA robotics WINGMAN User Manual

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USER GUIDE
Version 1.10

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  • Page 1 USER GUIDE Version 1.10...
  • Page 2 USER GUIDE version 1.10 2 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 3 USER GUIDE version 1.10 3 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 4 USER GUIDE version 1.10 4 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 5: Table Of Contents

    AIN HAZARDS ................................50 HE TOOL SPACE ..............................51 OBOT REQUIREMENTS 5 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 6 – HIGH FLOW PASS-THROUGH MODULE ......................78 ATASHEET – UR ............................. 80 ATASHEET CAP SOFTWARE 6 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 7: Important Safety Notes

    Tip texts are tips that will ensure you the best user experience. 7 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 8: Main Warnings

    WARNING! Any safety information provided in this manual must not be construed as a warranty, by TripleA robotics ApS, that the robot application will not cause injury or damage, even if the robot application complies with all safety instructions.

  • Page 9: Definitions

    I/O’s Input and Output connectivity and control between a controller and an end-effector. The ICoG is the center of gravity for the tool part(WINGMAN Tool Changer part) and the Installed Center of Gravity end-effector assembly perceived as one body as this is installed in the tool part (ICoG) holder(WINGMAN Tool Changer part).
  • Page 10 A waypoint is a X, Y, Z coordinate and RX, RY, RZ rotation of a cobot's tool flange in space. Waypoint A cobot moves between such waypoints. 10 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 11: Tool Changer Components And Ordering

    USER GUIDE version 1.10 Tool changer components and ordering In this chapter, you will find a brief presentation of each component in the WINGMAN Tool Changer System. To find more details on components, please visit the chapter Product data in the end of this user guide.

  • Page 12: Unboxing Your Kit

    Product data in the end of this user guide. 12 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 13: Automatic Kits

    Example picture of one of our standard kits (case is optional) 13 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 14: Intended Use

    The WINGMAN Tool Changer System is not allowed to be used in applications that poses a risk to human life in case the WINGMAN would fail.

  • Page 15: Installation

    Ask your end-effector vendor how to bypass this failsafe feature. WARNING! Deploying the WINGMAN Tool Changer System outside the framework of intended use and technical specifications such as maximum allowed payload can result in hardware damage, serious injury and even death.
  • Page 16 1.10 TIP for Universal Robots! In the UR-cap software provided by TripleA robotics, you can adjust the orientation of how the robot part is installed on the UR cobot. If you have used the pin as per step 1, no adjustment of the orientation is needed.

  • Page 17: Installing The Tool Part

    17 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 18: Installing Pass-Through Modules

    An end-effectors provided with incorrect energy/control 18 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 19 Failing in doing so will result in hardware damage (e.g. damage to electrical connectors) and can result in injury. 19 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 20: Installing The Tool Part Holder

    20 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 21 21 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 22 22 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 23: Manual Use

    ATTENTION! Do not use tools of any kind such as screw drivers etc. to move the levers as this will permanently damage the levers. 23 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 24: Automatic Use

    The WINGMAN Tool Changer System is a mechanical tool changer system that activates the lock/unlock mechanism by means of the cobot’s motion through space – Hence, there is no need for electricity nor pneumatic installations to achieve automatic tool changes.

  • Page 25: Important About Waypoints

    TIP for Universal Robots! With use of the URcap software provided by TripleA robotics, you will only have to teach W2. The remaining mandatory waypoints (W1, W3 and W4) are calculated automatically.

  • Page 26: Important About Cobot Speed

    WINGMAN Cobot Tool Changer system. The main topics are listed in this chapter. WARNING! Providing an end-effector with incorrect energy/control can cause hardware damage, injury and even death.

  • Page 27: The End-Effector's Energy Requirements

    In some cases it is the best solution or even necessary not route the energy to the end-effector through the WINGMAN’s pass-through options but instead plan the application so that the energy and control cables/lines are connected at all times. Cables/lines can be supported by a wire spring reel installed on a post.

  • Page 28: Good Practice For Setting Up Tool Changes

    To prevent conflicts with third party URcap software installed on your cobot, the URcap software from TripleA robotics is passive with no “threads” running in the background. The URcap simply helps you build perfect tool change programs easy and fast.
  • Page 29 WARNING! Programming automatic tool change must always be conducted as per instructed in chapter 8.4 Good practice for setting up tool changes. 29 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 30: Preparation

    AAA – Get Tool: Add this node to your Robot Program when you want the cobot to collect a specific end-effector from its designated tool part holder. 30 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 31 To find out, uninstall third-party URcaps one by one and test. 31 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 32: Basic Setup Of Tool Change Movement

    “Delete Me” and must be deleted manually before the Robot Program can execute. 32 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 33 See more about waypoint in chapter 8.1 Important about waypoints. 33 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 34 TIP! To test AAA – Get Tool nodes and AAA – Put Tool nodes individually in a flexible way, see the guide in chapter 8.5.5 Powerful TEST feature and good programming practice. 34 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 35: Basic Setup Of End-Effector Parameters

    Failing in doing so will result in hardware damage (damage to electrical connectors etc.) and can result in injury. 35 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 36 0V, when you have finished the Robot Program for this particular tool. 36 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 37: Powerful Test Feature And Good Programming Practice

    Navigate to the Robot Program and press the >SubProg< button in the advanced menu. This will create an empty SubProgram in the end of your Robot Program. 37 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 38 “Hide Subprogram Tree” to prevent the nodes from unfolding when the Robot Program executes. 38 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 39 Robot Program tree. With that, the Robot Program will execute the full Robot Program and ignore your AAA – TEST node. 39 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 40: Advanced: Setup Of Tool Change Movement

    W0 and W5 uses the cobots default speed which might be too fast to ensure collaborative safety in your robot application. 40 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 41 Navigate to the Robot Program > AAA – Tools > Tool: T1 > Config > Tool Holder Pos.(W2) > • Disengaged Pos.(W1) • Prelocked Pos.(W3) • Locked Pos.(W4) 41 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 42: Advanced: Setup Of End-Effector Settings

    W4 where the robot part and tool part are locked to each other. Your SubProgram can hold anything from a simple standard “SET” node, where you can configure all available I/O’s, to you own bespoke complex UR script code. Calling a subprogram from the WINGMAN 42 | P a g e...
  • Page 43 EXACT name “Get_T1_W4” of your SubProgram in the field labeled “Run SubProgram after W4 in Get Tool”. 43 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 44: Advanced: Setup Of Odd Orientation Of The Robot Part

    If the robot part is installed in an odd orientation (not directly onto the cobots tool flange or positioned without use of the 6 mm positioning pin, you will need to do a minor adjustment in the WINGMAN URcap software to compensate.

  • Page 45: Advanced: Sharing End-Effectors Between More Robot Programs And Cobots

    Robot Programs and cobots. This will be a good idea if you have several end- effectors that you deploy in several applications. 45 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 46: Advanced: Remote Activated Automatic Tool Change

    Navigate to Installation > Startup and set up so your robot program is loaded upon startup. 46 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 47: Programming Tool Change On Other Cobots

    Failing in doing so will result in hardware damage and can result in injury. The WINGMAN Tool Changer System can be deployed in combination with all cobots that comply with the safety requirements found in chapter 9 Safety and which are able to move in two axis or more.

  • Page 48: Safety

    Safety 9.1 Limitation of liability: All information provided in this user guide may not be perceived as a warranty by TripleA Robotics ApS that this industrial part-machine cannot cause personal injury or property damage, even if all safety instructions and parameters are complied with.

  • Page 49: Main Hazards

    USER GUIDE version 1.10 9.4 Main hazards The main hazards related to automatic tool changes deployed using the WINGMAN Tool Changer System are: 1. A user receiving quasi-static contact as the cobot moves the robot part towards the tool part holder.

  • Page 50: The Tool Space

    50 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 51: Cobot Requirements

    TIP for Universal Robots users: All cobots from Universal Robots are certified to standard EN ISO 10218- 1:2012 section 5.10 collaborative operation requirement. WARNING! Deploying the WINGMAN Tool Changer System in collaborative operation on a robot that is not certified for collaborative operation as per EN ISO 10228-1:2012 can result in hardware damage, serious injury and even death.

  • Page 52: Pre-Deployment Checklist And Residual Risk

    1.10 9.8.1 Pre-deployment checklist and residual risk To ensure that the WINGMAN Tool Changer System can be deployed in collaborative operation, all risk reducing requirements throughout this user guide must be observed and complied with by the system integrator and by the user. In beneath a checklist is provided that summarize the most important risk reducing requirements and explain associated residual risks.

  • Page 53: Startup Checklist

    9.8.3 Interval checklist All parts of the WINGMAN Tool Changer System and user training must be submitted to a routine check at intervals. INTERVAL CHECKLIST No.:...

  • Page 54: Id Tag System

    (not provided by TripleA robotics). 54 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 55: Repair And Maintenance

    As the WINGMAN is a mechanical device, all tool changer parts are considered as wear part and all can be replaced over time.

  • Page 56: Lubing The Tool Changer

    56 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 57: Damage And Repair

    (PICTURE) order. Tighten the t25 torx screws with 5 Nm. (PICTURE) 57 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 58: Troubleshooting

    10.1.3 Lubing. b. By addressing tiling and noise. See ID 1.1. 58 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 59 1.10 2. SOFTWARE RELATED ISSUES (ONLY UNIVERSAL ROBOTS) The URcap software The URcap software is thoroughly tested by TripleA robotics and should run error free. from TripleA robotics return an error. a. Check that the URsoftware (PolyScope) is a compatible version and update if necessary. See chapter 8.5.1...
  • Page 60 Your electrical end- If you have installed and used the TripleA robotics URcap, a scenario can occur where you cannot get your effector does not work electrical end-effector to work for ordinary use without using the TripleA robotics URcap. This can happen if...
  • Page 61 Voltage must ALWAYS be 0V as tool change is completed and turned on after the electrical connection has been made. 61 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 62: Warranty And Liability

    TripleA robotics ApS shall vest in TripleA robotics ApS and shall be returned to TripleA robotics ApS. Any other claims resulting out of or in connection with the device shall be excluded from this warranty. The duration of the warranty shall not be extended by services rendered under the terms of the warranty.

  • Page 63: Ec - Declaration Of Incorporation

    2014/68/EU — Pressure Equipment Directive (PED) Odense, June 30th, 2020 Christian Lyhr Jensen 63 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 64: Datasheets

    USER GUIDE version 1.10 Datasheets 64 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 65 USER GUIDE version 1.10 DATASHEETS Version 1.10 65 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 66 USER GUIDE version 1.10 66 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 67 USER GUIDE version 1.10 67 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 68 USER GUIDE version 1.10 68 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 69 USER GUIDE version 1.10 69 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 70: Datasheet - Tool Changer

    5. Maximum allowed payload must always be calculated for the application. 70 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 71 USER GUIDE version 1.10 Tool Changer Part no.: WM1-P-01-01 Part no.: WM1-P-01-02 71 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 72 How to calculate if the WINGMAN’s maximum allowed static payload & torque limits are within those present in your application: 1. Calculate the forces (F , Mb , Mt), which the WINGMAN will be exposed to in your application considering the cobots worst-case acceleration/deacceleration of the payload and the payloads interaction with other objects.
  • Page 73 USER GUIDE version 1.10 MAXIMUM ALLOWED APPLICATION PAYLOAD GRAPHS 73 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 74: Datasheet - Tool Part Holder

    Horizontally on a rigid structure HORRIZONTAL ININSTALLATION FOR A RIGID INSTALLATION Part no.: WM1-P-03-01 74 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 75 Mt-, max (Rated couple torque): 0 Nm Mb, max (Rated couple torque): 1 Nm 75 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 76: Datasheet - Electric Pass-Through Module

    Failing in doing so will result in damage to the electric connectors and can result in injury. 76 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 77 USER GUIDE version 1.10 Part no.: WM1-A-01-01 Part no.: WM1-A-01-02 77 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 78: Datasheet - High Flow Pass-Through Module

    Failing in doing so can result in hardware damage and injury. 78 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...
  • Page 79 USER GUIDE version 1.10 Part no.: WM1-A-03-01 Part no.: WM1-A-03-02 79 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

  • Page 80: Datasheet - Urcap Software

    Tool IO’s). 80 | P a g e TripleA robotics makes flexible automation possible and profitable for high mix and low volume production companies through Applicable, Adaptable and Affordable robotic tools...

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