Page 1 USER MANUAL FOR Y ASKAWA ROBOTS ORIGINAL INSTRUCTION (EN) v1.1.6...
Page 2: Table Of Contents
Configure the Compute Box as a Scanner.............30 4.4.3 Configure the Robot as an Adapter ..............32 4.4.4 Upload the OnRobot functions to the robot ..........37 5 Operation .......................... 40 5.1 Overview ........................40 5.2 List of functions ......................41 Mode II - OnRobot WebLogic™ ..................... 66...
Page 3 6.3.4 Power supply ....................84 7 Operation .......................... 85 7.1 Overview ........................85 7.2 Ethernet Interface setup....................86 7.3 Web Client ........................88 7.4 OnRobot WebLogic™ menu ..................90 7.4.1 Browser ......................90 7.4.2 Program Editor ....................91 8 Additional Software Options ..................99 8.1 Compute Box ......................99 8.1.1...
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: Naming Convention
E/H QC if the information is relevant for both variants. 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
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
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. OnRobot...
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: Screwdriver Safety Feature
Safety 2.6 Screwdriver Safety feature 2.6.1 Screw-bit System Always Hidden The Screwdriver has been designed so that the Screw-bit System can always be hidden inside the housing to enhance safety. The Move Shank command will allow the user to hide the Screw-bit System inside the housing at any time.
Page 11: Automatic Safety Feature
Safety 2.6.3 Automatic Safety Feature An automatic safety feature has been implemented to reduce the possibility of the users to be in danger. This safety feature is activated if the Screw-bit System detects a force above 40N during operation. In such a case, a mechanical mechanism will immediately retract the shank and hide it (up to 35 mm screw length).
Page 12: Operation Mode(S)
Operation mode(s) Operation mode(s) There are two alternative modes how the device(s) could be used: Modes of Operation OnRobot EtherNet/IP OnRobot WebLogic™ required in the robot: EtherNet/IP required in the robot: digital I/O module module OnRobot EtherNet/IP This mode uses the EtherNet/IP industrial network protocol to operate the grippers/sensor.
Page 13 Operation mode(s) In this document both modes of operation will be covered and will be referred to as: • OnRobot EtherNet/IP • OnRobot WebLogic™ Mode I - OnRobot EtherNet/IP . 14 Mode II - OnRobot WebLogic™ . 66...
Page 14: Mode I - Onrobot Ethernet/Ip
Operation mode(s) Mode I - OnRobot EtherNet/IP...
Page 15: Installation
• Mount the tool(s) In the following three subsections these three mounting steps will be described. 4.2.1 Adapter(s) For GP7, GP8 models Adapter F M5x10 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-31.5-4-M6) Dowel pin Ø5x6 (ISO2338 h8) Robot tool flange (ISO 9409- 1-60-4-M5) Use 5 Nm tightening torque.
Page 16 Installation For HC10 models Adapter H M6x8 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-31.5-4-M6) Dowel pin Ø6x8 (ISO2338 h8) Robot tool flange (ISO 9409-1- 80-4-M6) Use 10 Nm tightening torque.
Page 17: Quick Changer Options
Installation 4.2.2 Quick Changer options Quick Changer - Robot Side Quick Changer - Robot Side M6x8mm (ISO14580 8.8) Quick Changer (ISO 9409-1-50-4- Dowel pin Ø6x10 (ISO2338 h8) Adapter/ Robot tool flange (ISO 9409-1-50-4-M6) Use 10 Nm tightening torque. Quick Changer 3FG15 HEX-E/H QC RG2/6 RG2-FT Screwdriver VG10/VGC10 QC-R v2 QC-R v2-4.5 A...
Page 18 Installation HEX-E/H QC HEX-E/H QC HEX-E/H QC sensor M4x6mm (ISO14581 A4-70) M6x8mm (NCN20146 A4-70) HEX-E/H QC adapter Adapter/ Robot tool flange (ISO 9409-1-50- 4-M6) tightening torque. for M4x6mm Use 10 Nm tightening torque. for M6x8mm...
Page 19: Tools
Installation 4.2.3 Tools 3FG15 ........... 67 Gecko ........... 68 RG2 ..........69 RG2-FT.......... 70 RG6 ..........71 SG..........72 VG10 ..........72 VGC10........... 73 Quick Changer - Tool side ..73 3FG15 Step 1: Move the tool close to the Quick Changer as illustrated.
Page 20 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order.
Page 21 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 22 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order.
Page 23 Installation Screwdriver 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse...
Page 24 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse...
Page 25 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 26: Wiring
Installation 4.3 Wiring Three cables need to be connected to wire the system properly: • Tool data cable between the tool(s) and the Compute Box • Ethernet communication cable between the robot controller and the Compute Box • Power supply of the Compute Box bending radius extra length Robot...
Page 27: Ethernet Cable
Do not cut or extend these cables. CAUTION: Quick Changer and Dual Quick Changer can only be used to power OnRobot tools. 4.3.2 Ethernet cable Connect one end of the supplied Ethernet (UTP) cable to the robot controller's Ethernet (LAN)
Page 28: Power Supply
Installation NOTE: If the robot controller's Ethernet port is in use, use a standard 4- port Ethernet switch to be able to use two network devices at the same time. Connect the other end of the supplied cable to the Compute Box's ETHERNET connector. CAUTION: Use only shielded, maximum 3m long Ethernet cables.
Page 29 To disconnect the power connector, make sure to pull the connector housing (where the arrows are shown) and not the cable. CAUTION: Use only original OnRobot power supplies. Finally, power up the power supply that will power the Compute Box and the connected Tool(s).
Page 30: Software Setup
Installation 4.4 Software setup 4.4.1 Overview There are three steps required to set up the OnRobot device for operation with your robot: Set up the Compute Box as a Scanner. Set up the robot as an Adapter. Upload the OnRobot functions to the robot.
Page 31 • 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 For the first login a new password needs to be entered: (password must be at least 8 characters long)
Page 32: Configure The Robot As An Adapter
Installation Once logged in, click on the Configuration menu. Enable the EtherNet/IP scanner settings checkbox and set the values as shown above: • IP address to connect to: Robot IP address (if default values are used enter 192.168.1.2) • Origin-to-target instance id: 150 •...
Page 33 Installation Press the key on the teach pendant and start the controller at the same time to activate maintenance mode. When in maintenance mode, press the key on the teach pendant, then go to Security and select Safety mode Enter password: 5555555555555555 NOTE: Password may change based on controller.
Page 34 Installation Select Enable and ensure the following parameters are set: Input size: 64 byte Output size: 64 byte Configuration size: 0 word Input instance: Output instance: Configuration instance: 102 Press Enter twice and select Yes to modify. This will reveal the IO module screen. Press Enter on Line 19.
Page 35 Installation It will take you to external IO setup. Press Enter. Mapping will be shown.
Page 36 Installation Press Enter and confirm Yes to Modify and then the Option Function will be shown. Next, select File > Initialize. Go to Safety Board Flash Reset and press Select. Select Yes for reset and wait for the reset process to complete. Power Cycle the robot controller and when the robot controller has restarted, verify communications have been established.
Page 37: Upload The Onrobot Functions To The Robot
4.4.4 Upload the OnRobot functions to the robot In order to make it easier to use the OnRobot products, high level functions have been written and are provided in the USB stick. To upload the OnRobot functions to the controller follow the steps below: Connect the USB stick to the robot and then go to Main Menu >...
Page 38 Installation Select desired job (a star should appear next to the selected job). Press ENTER and select YES to load.
Page 39 Installation Once loaded to the teach pendant you can press JOB > SELECT JOB Key and you can select and run the program as normal.
Page 40: Operation
5.1 Overview In order to make it easier to use the OnRobot products, high level functions have been written into the OR_xxxxx.JBI files. Some mandatory parameters, which shall be configured, are stored in the first program (OR_init.JBI).
Page 41: List Of Functions
Operation 5.2 List of functions Function: OR_INIT(toolCfgID, BitOffset) Name Type Description 101: only a single gripper is used 102: HEX sensor + any (or no) single gripper is toolCfgID Double used precision Input: 103: Dual QC with two grippers are used BitOffset Double Destination where the EtherNet/IP mapping precision...
Page 42 Operation 3FG15 Function: OR_TFG_MOVE(instance, diameter, wait) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration diameter Double precision Define the desired opening in mm Input: 0: return after command is executed (without Double wait waiting for execution to be complete)
Page 43 Operation Function: OR_TFG_SETFTOFFS(instance, radius) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Input: Fingertip radius in mm Double radius Default: 13.5mm precision Valid inputs: 0-50mm Output: Behavior: Set rubber fingertip radius as offset from the finger CALL JOB:OR_TFG_SETFTOFFS(1,13) Example: Function:...
Page 44 Operation Function: OR_TFG_STOP(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Output: Behavior: Stops the gripper motion Example: CALL JOB:OR_TFG_STOP(1) Function: out = OR_TFG_ISCONN(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision...
Page 45 Operation Function: out = OR_TFG_ISFGRIP(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double 0: no force grip detected Output: precision 1: force grip detected Behavior: Check if force grip is detected CALL JOB:OR_TFG_ISFGRIP(1) Example: GETS D000 $RV...
Page 46 Operation Function: out = OR_TFG_GETMAXD(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: precision Returns maximum diameter in mm. Behavior: Shows user maximum diameter in mm CALL JOB:OR_TFG_GETMAXD(1) Example: GETS D000 $RV...
Page 47 Operation Function: out = OR_TFG_GETFORCE(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: precision Returns integer force value in % Behavior: Checks force applied by gripper on part in % CALL JOB:OR_TFG_GETFORCE(1) Example: GETS D000 $RV...
Page 48 Operation Function: out = OR_TFG_CALVAL(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double 0: calibration not valid Output: precision 1: calibration valid Behavior: Checks validity of calibration CALL JOB:OR_TFG_CALVAL(1) Example: GETS D000 $RV...
Page 49 Operation HEX-E/H QC Function: out = OR_HEX_READ(instance, property) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Input: “FX”, “FY”, “FZ” : Select which force axis to read property String “TX”, “TY”, “TZ”...
Page 50 Operation RG2/6 Function: OR_RG_MOVE(instance, width, force, wait) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Double Define the desired opening in mm width precision Input: Double force precision Define the desired gripping force in N 0: return after command is executed (without Double waiting for execution to be complete)
Page 51 Operation RG2-FT Function: OR_RG2FT_MOVE(instance, width, force, wait) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Double Define the desired opening in mm width precision Input: Double force precision Define the desired gripping force in N 0: return after command is executed (without Double waiting for execution to be complete)
Page 52 Operation Function: out = OR_RG2FT_READHEX(instance, sensor, property) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration “L: To get LEFT HEX sensor data “R: To get RIGHT HEX sensor data sensor String “GEN: Parameters for both HEX...
Page 53 Operation Screwdriver Function: OR_SD_TIGHTEN(instance, length, force, torque, wait) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Double length Define the desired screw length (0-35mm) precision Double force precision Define the desired tightening force (18-30N) Input: Double Define the desired tightening torque (100-...
Page 54 Operation Function: OR_SD_MOVESHANK(instance, shank_position, wait) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration position Double precision Shank positions (0-50mm) Input: 0: return after command is executed (without Double wait waiting for execution to be complete) precision 1: return after fingers reached the position...
Page 55 Operation Function: out = OR_SD_ISCONN(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double 0: gripper not connected Output: precision 1: gripper is connected Behavior: Check screwdriver connection CALL JOB:OR_SD_ISCONN(1) Example: GETS D000 $RV...
Page 56 Operation Function: OR_SD_GETSHANKP(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: precision Returns shank position (mm) Behavior: Get position of the screwdriver shank(mm) CALL JOB:OR_SD_GETSHANKP(1) Example: GETS D000 $RV Function: out = OR_SD_GETFORCE(instance)
Page 57 Operation Function: OR_SD_GETACHTORQUE(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: Returns achieved torque value (Nm) precision Description: Get screwdriver achieved torque (Nm) CALL JOB:OR_SD_GETACHTORQUE(1) Example: GETS D000 $RV Function: OR_SD_ GETTORQUEGRD(instance)
Page 58 Operation Function: OR_SG_INIT(instance, toolID) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration 1: None Input: 2: SG-a-H Double toolID precision 3: SG-a-S 4: SG-b-H Output: Behavior: Initialize the SG Tool Example: CALL JOB:OR_SG_INIT (1,2) Function:...
Page 59 Operation Function: OR_SG_RELEASE (instance, width) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Input: Double width precision Define the desired width in mm 0: return after command is executed (without Double wait waiting for execution to be complete)
Page 60 Operation Function: out = OR_SD_ISCONN(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double 0: gripper not connected Output: precision 1: gripper is connected Behavior: Check if gripper is connected CALL JOB:OR_SD_ISCONN(1) Example: GETS D000 $RV...
Page 61 Operation Function: out = OR_SG_HASERROR(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double 0: no error detected Output: precision 1: error detected Behavior: Check if error is detected CALL JOB:OR_SG_HASERROR(1) Example: GETS D000 $RV...
Page 62 Operation Function: out = OR_SG_MINWIDTH(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: precision Returns minimum width in mm. Behavior: Read current tool minimum width (mm) CALL JOB:OR_SG_MINWIDTH(1) Example: GETS D000 $RV...
Page 63 Operation Function: out = OR_SG_GETSILDEPTH(instance) Name Type Description instance Double 1: single or primary - in dual configuration Input: precision 2: secondary in dual configuration Double Output: precision Silicone depth in mm Distance along the tool z axis to the edge of the silicone tool having as Behavior: reference the gripper inner face perpendicular to the tool z axis CALL JOB:OR_SG_GETSILDEPTH(1)
Page 64 Operation VG10 / VGC10 Function: OR_VG_PUMP(instance, vacuumA, vacuumB, waitfor) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration Double Requested vacuum level for channel A, from 0 (off) vacuumA precision to 100% Input: Double...
Page 65 Operation Function: out = OR_VG_READ(instance, property) Name Type Description instance Double 1: single or primary - in dual configuration precision 2: secondary in dual configuration “A: To get current vacuum level on channel A Input: “B: To get current vacuum level on channel B property String “Current: To get the stored value for maximum allowed current...
Page 66: Mode Ii - Onrobot Weblogic
Operation Mode II - OnRobot WebLogic™...
Page 67: Installation
• Mount the tool(s) In the following three subsections these three mounting steps will be described. 6.2.1 Adapter(s) For GP7, GP8 models Adapter F M5x10 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-31.5-4-M6) Dowel pin Ø5x6 (ISO2338 h8) Robot tool flange (ISO 9409- 1-60-4-M5) Use 5 Nm tightening torque.
Page 68 Installation Adapter G M4x10 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-31.5-8-M4) Dowel pin Ø4x6 (ISO2338 h8) Robot tool flange (ISO9409-1- 62-8-M4) Use 3 Nm tightening torque. For HC10 models Adapter H M6x8 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-31.5-4-M6) Dowel pin Ø6x8 (ISO2338 h8)
Page 69: Quick Changer Options
Installation 6.2.2 Quick Changer options Quick Changer - Robot Side Quick Changer - Robot Side M6x8mm (ISO14580 8.8) Quick Changer (ISO 9409-1-50-4- Dowel pin Ø6x10 (ISO2338 h8) Adapter/ Robot tool flange (ISO 9409-1-50-4-M6) Use 10 Nm tightening torque. Quick Changer 3FG15 HEX-E/H QC RG2/6 RG2-FT Screwdriver VG10/VGC10 QC-R v2 QC-R v2-4.5 A...
Page 70 Installation HEX-E/H QC HEX-E/H QC HEX-E/H QC sensor M4x6mm (ISO14581 A4-70) M6x8mm (NCN20146 A4-70) HEX-E/H QC adapter Adapter/ Robot tool flange (ISO 9409-1-50- 4-M6) tightening torque. for M4x6mm Use 10 Nm tightening torque. for M6x8mm...
Page 71: Tools
Installation 6.2.3 Tools 3FG15 ........... 71 RG2 ..........72 RG2-FT.......... 73 RG6 ..........74 Screwdriver ......... 75 SG..........75 VG10 ..........76 VGC10........... 76 Quick Changer - Tool side ..77 3FG15 Step 1: Move the tool close to the Quick Changer as illustrated.
Page 72 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order.
Page 73 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 74 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order.
Page 75 Installation Screwdriver 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse...
Page 76 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse...
Page 77 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 78: Wiring
Also make sure that the cable bending radius is minimum 40mm (for the HEX-E/H QC it is 70mm) Then, connect the other end to the Compute Box's DEVICES connector. CAUTION: Use only original OnRobot tool data cables. 6.3.2 Digital I/O wires For Yaskawa robots the two most recent controllers are: The most common Yaskawa controllers are the standard YRC1000 and the YRC1000micro controller.
Page 79 Installation • For the YRC1000, the I/O breakout board CN308 (Part No. 178669-1) inside the control cabinet can be used to connect the Compute Box to the robot controller. • For the YRC1000micro controller, use the I/O breakout board CN4 connector to connect the Compute Box to the robot controller.
Page 80 Installation Wire the digital I/O wires from the Compute Box to the robot. DO1-8: Digital outputs of the Compute Box (signals from the grippers/sensor to the robot) DI1-8: Digital inputs of the Compute Box (signals from the robot to the grippers/sensor) GND: To be used to have a common ground between the robot and the gripper/sensor It is recommended to connect all 8 inputs and 8 outputs for simplicity.
Page 81 Installation YRC1000 List of the important pins of the CN306 Breakout Board connectors:...
Page 82 Installation Description Description Digital input 1 Digital output 1 Digital input 2 Digital output 2 Digital input 3 Digital output 3 Digital input 4 Digital output 4 Digital input 5 Digital output 5 Digital input 6 Digital output 6 Digital input 7 Digital output 7 Digital input 8 Digital output 8...
Page 83: Ethernet Cable
Installation YRC1000micro List of the important pins of the C4 breakout board connector: Description Description Digital input 1 Digital output 1 Digital input 2 Digital output 2 Digital input 3 Digital output 3 Digital input 4 Digital output 4 Digital input 5 Digital output 5 Digital input 6 Digital output 6...
Page 84: Power Supply
Installation 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 85: Operation
7.1 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 86: Ethernet Interface Setup
Operation 7.2 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 87 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 88: 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 89 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 90: Onrobot Weblogic™ Menu
Operation 7.4 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. 7.4.1 Browser This tab lists the WebLogic™...
Page 91: Program Editor
Operation 7.4.2 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 92 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 93 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 94 Operation • 2 - If the device is mounted on the Secondary side of a Dual Quick Changer 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 •...
Page 95 Operation 3FG15 Conditions Description Diameter Actual raw diameter of the fingers [mm] Diameter with Actual diameter of the fingers with the fingertips [mm] fingertips Force Actual force in percentage Busy Becomes TRUE when the gripper is moving otherwise FALSE. Becomes TRUE when the gripper was commanded to move and the Grip detected move was stopped by gripping on a part otherwise FALSE.
Page 96 Operation RG2/6 Conditions Description Width Actual width of the gripper [mm] TRUE if the gripper is in motion (can only accept new commands when Busy not busy) Grip Internal or external grip is detected. Safety pressed TRUE if any of the gripper's safety switch is currently being pressed. Safety triggered TRUE if any of the gripper's safety switch is triggered.
Page 97 Operation Screwdriver Conditions Description Current torque The actual torque (in Nm) measured by the device. Shank position The actual position of the shank in mm. Force The actual force (in N) measured by the device. Busy TRUE when the screwdriver is not idle (moving). Safety error TRUE when the screwdriver safety function is activated.
Page 98 Operation Conditions Description Width Actual gripper width [mm] Becomes TRUE when the gripper received a valid Initialize command Initialized otherwise FALSE. Busy Becomes TRUE when the gripper is moving otherwise FALSE. Commands Description The gripper first needs to be initialized by setting what type of SG Tool Initialize is used.
Page 99: 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 100 • 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 101 Additional Software Options Devices menu To control/monitor a device click on the Select button. 3FG15 ......... 102 HEX-E/H QC ....... 105 RG2/6.......... 106 RG2-FT........108 Screwdriver ....... 110 SG..........112 VG10 / VGC10 ......114...
Page 102 Additional Software Options 3FG15 The state of the gripper could be: • Busy - the gripper is in motion • Grip detected - the gripper has detected a workpiece • Force grip detected - the gripper has applied the target force to a workpiece. This also activates a break.
Page 103 Additional Software Options In Move mode: The gripper can be controlled by adjusting the Target raw diameter slider. The actual values of the fingers are shown by the Current raw diameter. The raw diameter is without the fingertip offset. In Grip mode: First set how to grip the part: •...
Page 104 Additional Software Options The default finger setting can be changed on the Settings tab: • Select finger position - Select the mounted finger position and Save. • Set finger length - If customized fingers are needed, the checkbox can be enabled, and the new finger length can be entered.
Page 105 Additional Software Options Saving any of these 3 settings will automatically apply the changes. Different finger positions, fingertip diameters and finger lengths will allow to achieve different diameters and forces. Find more information in sections Gripping Forces and Gripping Diameters HEX-E/H QC The force and torque values (Fx,Fy,Fz and Tx,Ty,Tz) are shown in N/Nm.
Page 106 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 107 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 108 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 109 Additional Software Options NOTE: Zero value set on this page is not stored permanently and are restored to the default values on power reset. The Proximity offset can be used to calibrate the proximity reading. The calibration requires the following steps to be done: •...
Page 110 Additional Software Options Screwdriver The state of the gripper: • Torque - Shows the current torque.
Page 111 Additional Software Options • Shank position - Shows the current shank position. • Busy - the screwdriver is in motion • Safety trigger - shows if the mechanical safety is being trigger. • Enable - Press to enable the screwdriver after the mechanical safety is being trigger. •...
Page 112 Additional Software Options The States of the gripper could be: • Busy - the gripper is moving • Initialized - the gripper has been initialized.
Page 113 Additional Software Options Select tool type • Current tool - Shows the currently selected SG tool. Select the desired SG tool, by clicking the adjacent radio button. • Click on Initialize to initialize the selected SG tool Set grip mode and width The default gripping speed is set as Gentle grip, the gripping speed is reduced at 12.5mm before the specified target width, this results in a gentler grip, compared to normal grip settings.
Page 114 Additional Software Options VG10 / VGC10 The actual vacuum level for Channel A and Channel B can be seen in percentage (in the range of 0…80 kPa 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 115 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 116 Additional Software Options Compute Box / Eye 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.
Page 117 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 118 Additional Software Options Update menu This page can be used to update the software on the Compute Box and the firmware on the devices. Start the software update by clicking on the Browse button to browse for the. cbu software update file.
Page 119 Additional Software Options CAUTION: During the update process (takes about 5-10 minutes) DO NOT unplug any device or close the browser window. Otherwise the updated device could be damaged. If the update is finished and was successful, the following message is shown: Now disconnect the device and use it as usual.
Page 120 Additional Software Options Now disconnect the device and use it as usual. NOTE: If the update is failed, please contact your distributor.
Page 121 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 122 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 123 Additional Software Options To prevent a user to sign-in either could be: • deactivated by changing its Active status in the edit mode • or removed by clicking the delete icon.
Page 124: Hardware Specification
Hardware Specification Hardware Specification 9.1 Technical sheets 3FG15 ......... 125 HEX-E QC ........130 HEX-H QC ........132 Quick Changer ......134 Quick Changer for I/O ....134 Dual Quick Changer ....134 Quick Changer - Tool side ..134 RG2-FT........
Page 125 Hardware Specification 3FG15 General Properties Minimum Typical Maximum Unit [kg] [lb] Payload Force Fit [kg] [lb] Payload Form Fit [mm] External 0.16 5.98 [inch] Grip Diameter* [mm] Internal [inch] 1.38 6.93 [mm] Finger position resolution 0.004 [inch] [mm] Diameter repetition accuracy 0.004 0.007 [inch]...
Page 126 Hardware Specification Fingers The supplied fingers can be mounted in 3 different positions to achieve different Gripping and different Forces below Gripping Diameters below The delivered finger length is 49 mm (L in the drawing below). If custom fingers are required, they can be made to fit the Gripper according to the dimensions (mm)[inch] shown below.
Page 127 Hardware Specification Fingertips The supplied fingertips are listed below. Different fingertips will allow to achieve different and different Gripping Forces below Gripping Diameters below • Ø10 mm steel • Ø13 mm steel • Ø13.5 mm silicone • Ø16.5 mm silicone If custom fingertips are required, they can be made to fit the Gripper’s fingers according to the dimensions (mm)[inch] shown below.
Page 128 Hardware Specification Types of Grips In the document the internal and external grip terms are used. These grips are related to how the workpiece is gripped. External Grip Internal Grip Gripping Force The total gripping force highly depends on the finger angle θ. For both internal and external grip, the lower the finger angle, the higher the force that will be applied as shown in the graph below.
Page 129 Hardware Specification NOTE: The total force applied depends on the finger angle, the input current (limited in some robots' tool flange connection) and the friction coefficient between the materials of the fingertips and the workpiece. Finger movement and force The gripping action has two phases: Phase 1: For a safety reason, the fingers will start moving with a low force (maximum ~50 N) to avoid damaging anything that could get clamped between the gripper fingers and the workpiece.
Page 130 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 131 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 132 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 133 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 134 Hardware Specification Quick Changer Quick Changer for I/O 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]...
Page 135 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 136 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 137 Hardware Specification RG2-FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters.
Page 138 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 139 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)
Page 140 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 141 Hardware Specification RG2 Gripping Speed Graph RG2 Work Range...
Page 142 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 143 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 144 Hardware Specification RG6 Gripping Speed Graph RG6 Work Range...
Page 145 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 146 Hardware Specification Screwdriver General Properties Minimum Typical Maximum Unit 0.15 [Nm] Torque range 0.11 3.68 [lbft] 0.04 [Nm] If torque < 1.33 Nm/ 0.98 lbft Torque 0.03 [lbft] accuracy* If torque > 1.33 Nm/ 0.98 lbft Output speed [RPM] [mm] Screw length within full safety 1.37 [inch]...
Page 147 Hardware Specification Supported Screws Material type Magnetic Screw length Up to 50 mm (35 mm thread length) Head type Cylinder Counter sunk Button head Appearance Din 912 / ISO 14579 ISO 14580 DIN 7985A ISO 14581 Standard ISO 4762 M1.6 M2.5 Supported Thread...
Page 148 Hardware Specification Screw-bit system This system will highly increase the efficacy of the screws to be picked up, aligned with the bit, moved around with the Screwdriver and screwed in/out. Therefore, it is highly recommended to set up the Screw-bit System correctly to keep a high success rate. Example of the Screw-bit System for an ISO 14579 screw.
Page 149 Hardware Specification Items needed depending on Screw type and size Items needed depending on Screw type and size Head type Cylinder Counter sunk Button head Din 912 / Screw ISO 14579 ISO 14580 DIN 7985A ISO 14581 ISO 4762 Standard Thread Bit holder, bit, crew carrier and screw fix needed Size...
Page 150 Hardware Specification 1. Screws The first step is to know what type of screw is going to be used. The screw type will define what type of bit, screw carrier, screw fix (if any) and bit holder shall be used. The recommended screw types for the Screwdriver are the ones that have the properties mentioned previously on the Supported Screws table...
Page 151 Hardware Specification 4. Screw carrier and screw fix Select the right screw carrier and screw fix depending on the screw type and t size to maximize the efficacy of the Screw-bit System based on the table on section Items needed depending on Screw type and size The screw carriers have signifiers to help identifying what screw type and size these can be used with.
Page 152 Hardware Specification The screw carries must be adjusted so that the screw head seats stable on the screw carrier avoiding a gap in between. See the pictures below as reference. Din 912 / ISO 4762 / ISO 14581 DIN 7985A ISO 14579 / ISO 14580 When this is achieved, remove the screw and push in the screw fix (only Din 912, ISO 4762, ISO 14579 and ISO 14580 screw types)
Page 153 Hardware Specification 5. Attaching and detaching the Screw-bit System to/from the Screwdriver The last step is to attach the system to the Screwdriver by placing the hex shape of the bit holder inside of the end of the screwdriver's shank as shown in the picture below. The system will be attached to the screwdriver by a magnetic force.
Page 154 Hardware Specification Screwdriver position to execute commands To successfully execute the screwdriver commands, it is fundamental to position the screwdriver correctly. This is achieved if the following two conditions are met: 1. The Screw-bit System must be perfectly aligned to the screw or thread. 2.
Page 155 Hardware Specification Torque angle curve and torque gradient The torque gradient shows how the torque is applied in the last phase of the Tightening screw command. This could be used as an indicator to detect if a Tightening command is performed correctly.
Page 156 Hardware Specification General Properties Minimum Typical Maximum Unit Total spindle stroke [mm] 1.57 0.43 [inch] Spindle position resolution [mm] 0.0039 [inch] Spindle force Spindle speed [mm/s] 1.46 [inch/s] Gripping time* (SG-a-H) [grip/min] SG-tool attachment mechanism Smart lock Motor Integrated, electric BLDC IP Classification IP67 Dimensions (H x Ø)
Page 157 Hardware Specification How to handle a workpiece With the elastic silicone SG tools, the gripper can handle a wide range of workpieces, for a high number of applications. Different tool designs have some overlap in capability when ha ndling the same workpiece, but the tools have different characteristics and do have individual effectiveness on a given workpiece.
Page 158 Hardware Specification NOTE: The results shown in the table above, should be considered as indicative and may vary. The actual grip width always require testing, for verification. It is often a good idea to set a target width smaller, than actual workpiece width, to reach a higher surface contact area and to accommodate for vibrations and other unexpected conditions.
Page 159 Hardware Specification SG Tool Mounting Guide Rotate the ring so marking (A) facing you. Press the SG tool up against the ring until it Align the dot on the SG tool (B) with marking fits perfectly (C). Make sure there is no gap (A).
Page 160 Hardware Specification Scan for mounting guide video. Align the markings (I). Press the SG tool into the SG Base Part and rotate CW to align the two markings (J). WARNING: When working with the SG, please make sure that the grippers inward/outward motion is not obstructed, otherwise the positioning system may get out of sync.
Page 161 Hardware Specification VG10 General Properties Minimum Typical Maximum Unit 80 % [Vacuum] Vacuum -0.05 -0.810 [Bar] [inHg] Air flow [L/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 162 Hardware Specification When the four arms are adjusted to preferred angles, it is recommended to add the accompanied arrow stickers. This allows for easy realignment and exchanging between different work items. Payload The lifting capacity of the VG grippers depends primarily on the following parameters: •...
Page 163 Gripping Area Image Diameter [mm] Diameter [mm] [mm2] For non-porous materials, the OnRobot suction cups are highly recommended. Some of the most common non-porous materials are listed below: • Composites • Glass • High density cardboard • High density paper •...
Page 164 (air flow) is expected and the more air is moved in a grip resulting in longer gripping times. When using porous materials, the vacuum that can be achieve by using the OnRobot suction cups will depend on the material itself and will be between the range stated in the specifications.
Page 165 Hardware Specification • Perforated materials • Untreated wood See the table below with general recommendations, in case other suction cups are needed for specific materials. Workpiece surface Vacuum cup shape Vacuum cup material Hard and flat Normal or dual lip Silicone or NBR Soft plastic or plastic bag Special plastic bag type...
Page 166 Hardware Specification Vacuum Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.: % vacuum Bar inHg Typically used for 0.00rel. 0.00rel. 0.0rel. 101.3 29.9 abs. No vacuum / No lifting capacity 1.01 abs. abs. 0.20rel.
Page 167 Hardware Specification • Extra attention must be paid to leakages, e.g. vacuum cup shape and surface roughness The air flow capability of a VG grippers is shown in the graph below: VG pump, air flow performance Vacuum percentage NOTE: The easiest way to check if a cardboard box is sufficiently tight is simply to test it using the VG grippers.
Page 168 Hardware Specification VGC10 General Properties Minimum Typical Maximum Unit 80 % [Vacuum] Vacuum -0.05 -0.810 [Bar] [inHg] Air flow [L/min] [kg] With default attachments 13.2 * [lb] Payload With customized [kg] attachments 33.1 [lb] Vacuum cups [pcs.] Gripping time 0.35 Releasing time 0.20 Vacuum pump...
Page 169 Hardware Specification Adaptor Plate The VGC10 comes with an Adaptor Plate which provides extra flexibility to locate the vacuum cups in different configurations. The Adaptor Plate has 7 holes to use fittings with vacuum cups or blinding screws as needed. It also has lines which show the holes that are communicated together.
Page 170 Hardware Specification To mount the Adaptor Plate simply remove the 4 fittings or blinding screws from the gripper, place the Adaptor Plate by choosing the right angle according to the desired configuration, and tighten the 4 screws with 4 Nm tighten torque. NOTE: Please, note that the O-Ring in the Adaptor Plate is not glued therefore it can be pulled out.
Page 171 Hardware Specification Below different mounting configurations with the provided attachments are shown. Customized Adaptor Plates and Push-in Fittings The design of the VGC10 is meant to facilitate the users to make their own adaptor plates to create different kinds of configurations. The dimensions needed to create a customized adaptor plate are shown in the image below.
Page 172 Hardware Specification The Push-in Fittings are used to attach 4 mm vacuum tubes to create customized configuration that required remote vacuum. In most cases, this size is enough for generating the needed vacuum from the pump in the gripper. The commercial name of the Push-in Fittings is Fitting QSM-G1/8-4-I-R in case some more units need to be purchased.
Page 173 Hardware Specification The image below shows how the push-in fittings and the normal fittings are communicated. Payload The lifting capacity of the VG grippers depends primarily on the following parameters: • Vacuum cups • Vacuum • Air flow Vacuum Cups Choosing the right vacuum cups for your application is essential.
Page 174 Hardware Specification For non-porous materials, the OnRobot suction cups are highly recommended. Some of the most common non-porous materials are listed below: • Composites • Glass • High density cardboard • High density paper • Metals • Plastic • Porous materials with a sealed surface •...
Page 175 (air flow) is expected and the more air is moved in a grip resulting in longer gripping times. When using porous materials, the vacuum that can be achieve by using the OnRobot suction cups will depend on the material itself and will be between the range stated in the specifications.
Page 176 Hardware Specification The thread size is the commonly used G1/8”; allowing for standard fittings, blinders and extenders to be fitted directly to the VG grippers. Vacuum Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.: % vacuum Bar inHg Typically used for...
Page 177 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). Therefore, the users must be aware of the following: •...
Page 178 Hardware Specification A low vacuum setting results in less air flow and less friction below the vacuum cups. This means VG gripper filters and vacuum cups will last longer.
Page 179: Mechanical Drawings
Hardware Specification 9.2 Mechanical Drawings 9.2.1 Adapter plate(s) Adapter F...
Page 180 Hardware Specification Adapter G...
Page 181 Hardware Specification Adapter H...
Page 182: Mountings
Hardware Specification 9.2.2 Mountings Quick Changer - Robot side ..183 Dual Quick Changer ....184 HEX-E/H QC ....... 185...
Page 183 Hardware Specification 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) cable.
Page 184 Hardware Specification Dual Quick Changer * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
Page 185 Hardware Specification HEX-E/H QC * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
Page 186: Tools
Hardware Specification 9.2.3 Tools 3FG15 ......... 187 RG2-FT........188 RG2 ..........189 RG6 ..........190 Screwdriver ....... 191 SG..........192 VG10 ........... 193 VGC10......... 195 Quick Changer - Tool side ..197...
Page 187 Hardware Specification 3FG15 All dimensions are in mm and [inches].
Page 188 Hardware Specification RG2-FT All dimensions are in mm and [inches].
Page 189 Hardware Specification All dimensions are in mm and [inches].
Page 190 Hardware Specification All dimensions are in mm and [inches].
Page 191 Hardware Specification Screwdriver All dimensions are in mm and [inches].
Page 192 Hardware Specification All dimensions are in mm and [inches]. The Silicone Tool parts - that are attached to the SG base part -, are described in the SG Datasheet.
Page 193 Hardware Specification VG10 All dimensions are in mm and [inches].
Page 194 Hardware Specification All dimensions are in mm and [inches].
Page 195 Hardware Specification VGC10 All dimensions are in mm and [inches].
Page 196 Hardware Specification All dimensions are in mm and [inches].
Page 197 Hardware Specification Quick Changer - Tool side All dimensions are in mm and [inches].
Page 198: Center Of Gravity
Hardware Specification 9.3 Center of Gravity COG, TCP, and weight parameters of the single devices (without any mounting/adapter): 3FG15 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX= 0 1.15 kg cY= 0 2.5 lb Z=156 cZ= 83 * With delivered fingers and 13.5 silicone fingertips on. HEX-E/H QC TCP [mm] Center of Gravity Coordinate system...
Page 199 Hardware Specification Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=0 1.25 kg cY=0 2.76 lb Z=250 cZ=90 * Mounted at 0˚ Screwdriver Coordinate system TCP [mm] Center of Gravity [mm] Weight X=153 cX= 0 2.5 kg cY= 4 5.51 lb Z=81 cZ= 50...
Page 200 Hardware Specification With Silicone Tool Type B on (SG-b-H). Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=-12 0.937 kg cY=-5 2.06 lb Z=155 cZ=46 VG10 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=15 1.62 kg cY=0 3.57 lb Z=105 cZ=54...
Page 201: Maintenance
Maintenance 10 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 202 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 203 Maintenance The table below shows the Kit number and the Part Number of the spare part kits. These are composed of: • Screw carrier (1 unit) • Screw fixes (10 units and only for Din 912 / ISO 4762 screws) •...
Page 204 Maintenance For the SG Base Part WARNING: Please, clean the SG Base Part regularly by using a cloth and a cleaning agent with a pH value between 6-8. When cleaning the SG Base Part please keep it mounted on the robot to prevent water getting into the connector.
Page 205 Maintenance Neither use nor power on the VG grippers without filters. Dust, hair and larger particles can get stuck in pump membranes and valve seats, causing permanent damage to the VG grippers. DANGER: Identify how often the filters need service and schedule maintenance with a fixed period short enough to ensure a firm grip at all times.
Page 206: Warranties
Own ership 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.
Page 207: Certifications
Certifications 12 Certifications...
Page 208 Certifications...
Page 209 Certifications...
Page 210 Certifications...
Page 211 Certifications...
Page 212 Certifications...
Page 213 Certifications...
Page 214 Certifications...
Page 215 This document stands to certify that all OnRobot SG-x-H materials, intended for food contact complies with: 1.
Page 216 Certifications Results The materials and color additive have been tested for extraction and migration limits by an independent testing organization (Eurofins Product Testing A/S. Accreditation number 522) Sensory Analysis: Parameter: Food Simulant: Median Grade: Limit Value* Odour Water (Just recognizable slight deviation, chemical) Taste...
Page 217 This document stands to certify that all OnRobot SG-x-S materials, intended for food contact complies with: 1.
Page 218 Certifications Results The materials and color additive have been tested for extraction and migration limits by an independent testing organization (Eurofins Product Testing A/S. Accreditation number 522) For the Hard part Sensory Analysis: Parameter: Food Simulant: Median Grade: Limit Value* Odour Water (Just...
Page 219 Certifications For the Soft part Sensory Analysis: Parameter: Food Simulant: Median Grade: Limit Value* Odour Water (Just noticable deviation) Taste Water (Just noticable deviation) * From 61. Statement of BfR, Bundesgesundheitsbl. 46, 2003, 362-5. Analysis - BfR recommendation XV on silicone: Parameter: Result: Limit value **...
Page 220: Declaration Of Incorporation
Certifications 12.1 Declaration of Incorporation 3FG15 ......... 221 HEX-E.......... 222 HEX-H ......... 223 RG2-FT........224 RG2 ..........225 RG6 ..........226 Screwdriver ....... 227 SG..........228 VG10 ........... 229 VGC10......... 230...
Page 221 Certifications 3FG15 CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: 3FG15 Generation: V1 Serial: 1000000000-1009999999...
Page 222 Certifications HEX-E CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Force/Torque Sensor Model: HEX-E QC Generation: V3 Serial:...
Page 223 Certifications HEX-H CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Force/Torque Sensor Model: HEX-H QC Generation: V3 Serial:...
Page 224 Certifications RG2-FT CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: RG2-FT Generation: V2 Serial: 1000000000-1009999999...
Page 225 Certifications CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: Generation: V2 Serial: 1000000000-1009999999 may not be put into service before the machinery in which it will be incorporated is declared in conformity with the provisions of Directive 2006/42/EC, including amendments, and with the regulations transposing it into national law.
Page 226 Certifications CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: Generation: V2 Serial: 1000000000-1009999999 may not be put into service before the machinery in which it will be incorporated is declared in conformity with the provisions of Directive 2006/42/EC, including amendments, and with the regulations transposing it into national law.
Page 227 Certifications Screwdriver CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Robotic Screwdriver Model: OnRobot Screwdriver Generation: V1 Serial: 1000000000-1009999999...
Page 228 Certifications CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: Generation: V1 Serial: 1000000000-1009999999 may not be put into service before the machinery in which it will be incorporated is declared in conformity with the provisions of Directive 2006/42/EC, including amendments, and with the regulations transposing it into national law.
Page 229 Certifications VG10 CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: VG10 Generation: V2 Serial: 1000000000-1009999999...
Page 230 Certifications VGC10 CE/EU Declaration of Incorporation (Original) According to European Machinery Directive 2006/42/EC annex II 1.B. The manufacturer: OnRobot A/S Teglværskvej 47H DK-5220, Odense SØ DENMARK declares that the product: Type: Industrial Robot Gripper Model: VGC10 Generation: V1 Serial: 1000000000-1009999999...

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OnRobot YASKAWA 3FG15 User Manual

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