OnRobot Gecko Gripper Original User Manual
  1. Manuals
  2. Brands
  3. OnRobot Manuals
  4. Robotics
  5. Gecko Gripper
  6. Original user manual

OnRobot Gecko Gripper Original User Manual

Hide thumbs Also See for Gecko Gripper:
Table of Contents

Advertisement

Quick Links

Download this manual
USER MANUAL
FOR NACHI ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.05

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Gecko Gripper and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for OnRobot Gecko Gripper

Summary of Contents for OnRobot Gecko Gripper

  • Page 1 USER MANUAL FOR NACHI ROBOTS ORIGINAL INSTRUCTION (EN) v1.05...

  • Page 2: Table Of Contents

    4.4.1 Overview ....................... 27 4.4.2 Configure the Compute Box as a Scanner ..............27 4.4.3 Configure the Robot as an Adapter ................30 4.4.4 Upload the OnRobot functions to the robot ............. 32 5 Operation..........................33 5.1 Overview ......................... 33 5.2 List of functions .......................
  • Page 3 7 Operation..........................65 7.1 Overview ......................... 65 7.2 Ethernet Interface setup....................66 7.3 Web Client........................68 7.4 OnRobot WebLogic menu ....................70 7.4.1 Browser ......................... 70 7.4.2 Program Editor ....................... 71 8 Additional Software Options....................77 8.1 Compute Box ........................77 8.1.1 Interfaces .......................

  • Page 4: Introduction

    1.3 Naming convention In the user manual Gecko Gripper is called Gecko only. The RG2 and RG6 names as model variants are used separately or together as RG2/6 if the information is relevant for both variants.

  • Page 5: How To Read The Manual

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

  • Page 6: Safety

    • Collecting all documentation in a technical file; including the risk assessment and this manual 2.1 Intended Use OnRobot tools are intended to be used on collaborative robots and light industrial robots with different payloads depending on the end-of-arm tooling specifications. OnRobot tools are normally use in pick-and- place, palletizing, machine tending, assembly, quality testing and inspection and surface finishing applications.

  • Page 7: General Safety Instructions

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

  • Page 8: Risk Assessment

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

  • Page 9: Pld Cat3 Safety Function

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

  • Page 10: Operation Mode(S)

    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 11 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 ..12 Mode II - OnRobot WebLogic ... 48...

  • Page 12: Mode I - Onrobot Ethernet/Ip

    Operation mode(s) Mode I - OnRobot EtherNet/IP...

  • Page 13: Installation

    In the following three subsections these three mounting steps will be described. 4.2.1 Adapter(s) For CZ10,MZ03EL, MZ07 models Adapter I M5x8 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-50-4-M6) Dowel pin Ø6x8 (ISO2338 Robot tool flange Use 5 Nm tightening torque.
  • Page 14 Installation Adapter J M5x8 screws (ISO14580 A4- OnRobot adapter flange (ISO940-1-50-4-M6) Dowel pin Ø6x8 (ISO2338 h8) Robot tool flange Use 5 Nm tightening torque.

  • Page 15: 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-M6) Dowel pin Ø6x10 (ISO2338 h8) Adapter/ Robot tool flange (ISO 9409- 1-50-4-M6) Use 10 Nm tightening torque. Dual Quick Changer Dual Quick Changer M6x20mm (ISO14580 8.8) Dual Quick Changer...
  • Page 16 Installation HEX-E/H QC HEX-E/H QC HEX-E/H QC sensor M4x6mm (ISO14581 A4- M6x8mm (NCN20146 A4- HEX-E/H QC adapter Adapter/ Robot tool flange (ISO 9409-1-50-4- Use 1.5 Nm tightening torque. for M4x6mm Use 10 Nm tightening torque. for M6x8mm...

  • Page 17: Tools

    Quick Changer and repeat the steps in the reverse order. CAUTION: With a Dual Quick Changer the Gecko Gripper can only be mounted on the Secondary (2) side. Mounting on the Primary (1) side will prevent the devices to function correctly.
  • Page 18 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.
  • Page 19 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 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 VG10 Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted. Step 2: Flip the tool until it is fully mated, and you hear a clicking sound.
  • Page 22 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 23: Wiring

    4.3.1 Tool data cable First connect the data cable to the tool. For Single or Dual RG2, RG6, VG10, VGC10 or Gecko Gripper Use the M8-8pin connector on the Quick Changer or on the Dual Quick Changer. Use the cable holder as illustrated on the left.

  • Page 24: Ethernet Cable

    HEX-E/H QC it is 70mm) Finally, connect the other end of the Tool data cable to the Compute Box's DEVICES connector. CAUTION: Use only original OnRobot tool data cables. Do not cut or extend these cables. CAUTION: Quick Changer and Dual Quick Changer can only be used to power OnRobot tools.

  • Page 25: Power Supply

    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 26 Installation...

  • Page 27: 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 28 Installation 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 29 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 30: Configure The Robot As An Adapter

    Installation 4.4.3 Configure the Robot as an Adapter To access the communication settings Expert or Specialist protection level is needed. To change the protection level press the button then enter 314 and press (Enter) button. The default password is 12345. Now the Fieldbus can be initialized.
  • Page 31 Installation Set it to SLAVE as you can see above. The Slot ID and module number within the PCI slot needs to be set according to your configuration. Then press Refer button to set the robot IP address. The IP address should be set to be on the same subnet with the Compute Box. If the default IP settings are used on the Compute Box, you can use the above values: Make sure the INPUT BYTES and OUTPUT BYTES are set to 64 and then click then on...

  • Page 32: Upload The Onrobot Functions To The Robot

    Installation 4.4.4 Upload the OnRobot functions to the robot In order to make easier to use the OnRobot products, high level functions have been written into the USERPROC.INC file, some mandatory parameters, which shall be configured, are stored in the PUBLIC.INC, both can be found on the accompanying USB stick.

  • Page 33: Operation

    5.1 Overview In order to make it easier to use the OnRobot products, high level functions have been written into the USERPROC.INC file. Some mandatory parameters, which shall be configured, are stored in the PUBLIC.INC.

  • Page 34: List Of Functions

    Operation 5.2 List of functions NOTE: To call a function (user procedure) all inputs shall be defined as a variable first, since numbers cannot be used directly. Function name: OR_init(toolCfgID, fieldbusCH) Name Type Description Tool configuration ID: Primary Secondary RG2FT Gecko toolCfgID integer...
  • Page 35 Operation Gecko Function name: OR_Gecko_padOut(instance, wait) Name Type Description 1: single or primary - in dual configuration instance integer 2: secondary in dual configuration" Input: 0: return after command is executed wait integer 1: return after pads reached the final position Output: Description: Move Gecko pads out.
  • Page 36 Operation Function name: OR_Gecko_getUS(instance) Name Type Description 1: single or primary - in dual configuration instance integer Input: 2: secondary in dual configuration Output: integer Ultrasonic sensor measures the distance in mm Description: Get ultrasonic sensor data (measured distance). instance = 1 CallProc ultrasonic_value = CallProc Example: OR_Gecko_getUS(instance)
  • Page 37 Operation Function name: OR_Gecko_padSt(instance) Name Type Description 1: single or primary - in dual configuration instance integer Input: 2: secondary in dual configuration" 0: pads are good Output: integer 1: pads are worn-out Description: Checks the pads worn-out state. instance = 1 Example: CallProc OR_Gecko_padSt(instance) Function name:...
  • Page 38 Operation HEX-E/H QC Function name: OR_HEX_get(FT_type) Name Type Description Requested force/torque value. Valid inputs: FT_type Input: string “Fx”, “Fy”, “Fz”, “Tx”, “Ty”, “Tz” Requested force/torque value. Forces are in 1/10N, Output: integer torques are in 1/100Nm Description: Get current force/torque value form the HEX sensor. FT_type = “Fx”...
  • Page 39 Operation RG2-FT Function name: OR_RG2FT_move(width, force, wait) Name Type Description width integer Define the distance in mm force integer Define the grip force in N Input: 0: return after command is executed (without waiting wait integer for gripper fingers move) 1: return after fingers reached the position Output: Description:...
  • Page 40 Operation Function name: OR_RG2FT_pOffsVal(valueL, valueR) Name Type Description valueL integer Left proximity custom offset value in mm Input: valueR integer Right proximity custom offset value in mm Output: Description: Sets custom offset values for proximity sensors. leftOffset = 10 Example: rightOffset = 15 CallProc OR_RG2FT_pOffsVaL(leftOffset, rightOffset) Function name:...
  • Page 41 Operation Function name: OR_RG2FT_getRProx() Name Type Description Input: Output: integer Right proximity sensor measured distance in mm Description: Get right proximity sensor value. CallProc rProxVal = OR_RG2FT_getRProx() Example: Function name: OR_RG2FT_getHex(ft_type) Name Type Description Requested force/torque value. Valid inputs: ft_type Input: string “rFx”, “rFy”, “rFz”, “rTx”, “rTy”, “rTz”...
  • Page 42 Operation Function name: OR_RG2FT_isBusy() Name Type Description Input: 0: gripper is idle Output: integer 1: gripper is busy Description: Checks gripper status (busy or idle). CallProc gripper_busy = OR_RG2FT_isBusy() Example: Function name: OR_RG2FT_isGrip() Name Type Description Input: 0: grip is not detected Output: integer 1: grip is detected...
  • Page 43 Operation RG2/6 Function name: OR_RGx_move(instance, width, force, wait) Name Type Description 1: single or primary - in dual configuration instance integer 2: secondary in dual configuration width integer Define the distance in mm Input: force integer Define the grip force in N 0: return after command is executed (without waiting wait integer...
  • Page 44 Operation Function name: OR_RGx_isBusy(instance) Name Type Description 1: single or primary - in dual configuration instance integer Input: 2: secondary in dual configuration 0: idle Output: integer 1: busy (fingers are moving) Description: Checks gripper state (busy or idle). instance = 1 Example: CallProc RG_busy = OR_RGx_isBusy(instance) Function name:...
  • Page 45 Operation VG10 / VGC10 Function name: OR_VG10_grip(instance, chA_vacuum, chB_vacuum, wait) Name Type Description 1: single or primary - in dual configuration instance integer 2: secondary in dual configuration Required vacuum level for channel A in %, set 0 to chA_vacuum integer release Input: Required vacuum level for channel B in %, set 0 to...
  • Page 46 Operation Function name: OR_VG10_setCur(instance, current) Name Type Description 1: single or primary - in dual configuration instance integer 2: secondary in dual configuration Input: Current limit for VG10 in mA. Valid in 100-1000 mA current integer range. Output: Description: Set current limit for VG10. instance = 1 current = 600 ‘mA Example:...
  • Page 47 Operation...

  • Page 48: Mode Ii - Onrobot Weblogic

    Operation Mode II - OnRobot WebLogic...

  • Page 49: Installation

    In the following three subsections these three mounting steps will be described. 6.2.1 Adapter(s) For CZ10,MZ03EL, MZ07 models Adapter I M5x8 screws (ISO14580 A4- OnRobot adapter flange (ISO9409-1-50-4-M6) Dowel pin Ø6x8 (ISO2338 Robot tool flange Use 5 Nm tightening torque.
  • Page 50 Installation Adapter J M5x8 screws (ISO14580 A4- OnRobot adapter flange (ISO940-1-50-4-M6) Dowel pin Ø6x8 (ISO2338 h8) Robot tool flange Use 5 Nm tightening torque.

  • Page 51: 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-M6) Dowel pin Ø6x10 (ISO2338 h8) Adapter/ Robot tool flange (ISO 9409- 1-50-4-M6) Use 10 Nm tightening torque. Dual Quick Changer Dual Quick Changer M6x20mm (ISO14580 8.8) Dual Quick Changer...
  • Page 52 Installation HEX-E/H QC HEX-E/H QC HEX-E/H QC sensor M4x6mm (ISO14581 A4- M6x8mm (NCN20146 A4- HEX-E/H QC adapter Adapter/ Robot tool flange (ISO 9409-1-50-4- Use 1.5 Nm tightening torque. for M4x6mm Use 10 Nm tightening torque. for M6x8mm...

  • Page 53: Tools

    Quick Changer and repeat the steps in the reverse order. CAUTION: With a Dual Quick Changer the Gecko Gripper can only be mounted on the Secondary (2) side. Mounting on the Primary (1) side will prevent the devices to function correctly.
  • Page 54 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.
  • Page 55 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 56 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 57 Installation VG10 Step 1: Move the tool close to the Quick Changer as illustrated. The hook mechanism (rod and hook tongue) will keep the lower part locked once mounted. Step 2: Flip the tool until it is fully mated, and you hear a clicking sound.
  • Page 58 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 59: Wiring

    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 Inside the control cabinet, the CNIN I/O interface on the Mini I/O board (most common I/O board) could...
  • Page 60 Installation Make sure that the robot is powered off completely. First locate the CNIN connector inside of the robot controller (requires a Mini I/O board). Then prepare the spare CNIN (FCN-36J024-AU Fujitsu Component) mating connector that was shipped with Mini I/O board. Check your digital I/O module installed in the control cabinet and configure the Compute Box DIP switches (red) accordingly: For PNP type set the 1.
  • Page 61 Installation NOTE: Use the PNP configuration if the Mini I/O board is PNP Transistor type or the Mini I/O board is Relay type and configured as PNP type. Use the NPN configuration if the Mini I/O board is NPN Transistor type or the Mini I/O board is Relay type and configured as NPN type.
  • Page 62 Installation DO1 to the robot's Digital input 1 DI1 to the robot's Digital output 1 DO2 to the robot's Digital input 2 DI2 to the robot's Digital output 2 … … DO8 to the robot's Digital input 8 DI8 to the robot's Digital output 8 List of the important pins of the CNIN mating connector: (viewed from the soldered surface) Connector type: FCN-361J024-AU soldering type female (Fujitsu component)

  • Page 63: Ethernet Cable

    UTP cable. This connection is only needed for programming. CAUTION: Use only original OnRobot ethernet cables or replace it with one that is shielded and no more than 3 meter long. WARNING: Check and make sure that the Compute Box enclosure (metal) and the robot controller enclosure (metal) are not connected (no galvanic connection between the two).
  • Page 64 Installation...

  • Page 65: 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 66: 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 67 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 68: 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 69 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 70: 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 programs that are stored on the Compute Box.

  • Page 71: 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 72 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 73 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 74 Operation Digital outputs (DO1-DO8) can have the following three states: (click to cycle through the states) • - Don’t change • - set the Output bit to logic low • - set the Output bit to logic high List of Device specific values Gecko ..........
  • Page 75 Operation HEX-E/H QC Conditions Description Bias TRUE if the sensor has been zeroed (biased). F3D= √���� + ���� +���� F3D, T3D T3D= √���� + ���� +���� [Nm] Fx, Fy, Fz, Tx, Ty, Tz Actual force [N] and torque [Nm] values Commands Description Set to TRUE to zero the F/T sensor signals (not permanent, will revert on...
  • Page 76 Operation RG2-FT Conditions Description Proximity (L,R) Actual values of the left and right fingertip proximity sensors [mm] Width Actual width of the gripper [mm] True if the gripper is in motion (can only accept new commands when not Busy busy) Grip Internal or external grip is detected.

  • Page 77: 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 78 • 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 79 Additional Software Options • - Account settings (e.g.: change password, add new user) • - Select the language of the Web Client In the following, these menus will be described. Devices menu To control/monitor a device click on the Select button. Gecko ..........
  • Page 80 Additional Software Options Gecko There is a force and an ultrasonic distance sensor in the gripper. The actual values of these sensors are: • Preload - the current forces acting on the pads (below 50N it displays 0N) • Object distance - how far the object is from the bottom of the gripper The state of the gripper could be: •...
  • Page 81 Additional Software Options NOTE: Preload threshold value set on this page is not stored permanently and are restored to the default value (90N) on power reset. If a part was detected and the object distance becomes > 18mm (part is lost) BEFORE the pads are set to be IN (normal release) the Pads worn warning is displayed in the Device info tab.
  • Page 82 Additional Software Options HEX-E/H QC The force and torque values (Fx,Fy,Fz and Tx,Ty,Tz) are shown in N/Nm. The Zero toggle switch can be used to zero the force and torque reading. NOTE: Zero value set on this page is not stored permanently and are restored to the default values on power reset.
  • Page 83 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 84 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 85 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 86 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 87 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 88 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 89 Additional Software Options Compute Box settings: In case, more than one Compute Box is used within the same network, for identification purpose any user specific name can be entered to the Display name. EtherNet/IP scanner settings: NOTE: This is a special option of the EtherNet/IP connection for some robots. In case when the robot is the Adapter and the Compute Box needs to be the Scanner the following addition information is required for the communication: •...
  • Page 90 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 91 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. Then the Browse button will turn to Update.
  • Page 92 Additional Software Options If the update is finished and was successful, the following message is shown: Now disconnect the device and use it as usual. NOTE: If the software update failed, please contact your distributor. The firmware update is only required when any of the components is out of date.
  • Page 93 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 94 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 95 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 96: Ethernet/Ip

    Additional Software Options 8.2 EtherNet/IP The OnRobot multi-device EtherNet/IP adapter can be accessed via scanner device (e.g. a robot, a PLC controller). Class 1 (implicit) and Class 3 (explicit) connections are available. NOTE: EtherNet/IP EDS file (v1.13 - MAJOR version 1 and MINOR version 13) is provided with the devices and can be located on the USB stick.
  • Page 97 Additional Software Options HEX-E/H QC T->O assembly id: 100 T->O data size: 24 bytes T->O parameters: Parameter name Bytes Type Comments Start bit 0: Disconnected HEX Device connected UINT 16 64: HEX is connected HEX Status UINT 32 0: No error HEX Filter UINT 16 See below HEX Fx...
  • Page 98 Additional Software Options RG2-FT T->O assembly id: 102 T->O data size: 64 bytes T->O parameters: Parameter name Bytes Type Comments Start bit 0: Disconnected RG2-FT Device connected 2 UINT 16 34: RG2-FT is Connected Left HEX Status UINT 32 0: No error Left HEX Filter UINT 16 See below Left HEX Fx...
  • Page 99 Additional Software Options O->T assembly id: 103 O->T data size: 32 bytes O->T parameters: Parameter name Bytes Type Comments Start bit RG Target Width UINT 16 1/10 mm RG Target Force UINT 16 1/10 N 0: Ignored RG Control UINT 16 1: Move 2: Stop 0: Ignored...
  • Page 100 Additional Software Options RG2/6 NOTE: This assembly instance can be used for both single and dual gripper configuration. Not only dual RG2 or dual RG6 but mixed configuration is also possible (RG2+RG6 or RG6+RG2). When used in single gripper configuration always use the Primary (Prim.) values. T->O assembly id: 104 T->O data size: 32 bytes T->O parameters:...
  • Page 101 Additional Software Options O->T assembly id: 105 O->T data size: 32 bytes O->T parameters: Parameter name Bytes Type Comments Start bit Prim. RG Target Width UINT 16 1/10 mm (corrected with fingertip offset ) Prim. RG Target Force UINT 16 1/10 N 0: Ignored Prim.
  • Page 102 Additional Software Options VG10 / VGC10 NOTE: This assembly instance can be used for both single and dual gripper configuration. When used in single gripper configuration always use the Primary (Prim.) values. T->O assembly id: 106 T->O data size: 32 bytes T->O parameters: Parameter name Bytes Type...
  • Page 103 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Ignore 1: Grip Prim. VG CH A Control UINT 16 2: Idle 3: Release Prim. VG CH B Control UINT 16 Same as Channel A Prim. VG CH A Target Vacuum UINT 16 % Prim.
  • Page 104 Additional Software Options Gecko NOTE: This assembly instance can be used for both single and dual gripper configuration. When used in single gripper configuration always use the Primary (Prim.) values. T->O assembly id: 108 T->O data size: 32 bytes T->O parameters: Parameter name Bytes Type Comments...
  • Page 105 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Ignored Prim. Gecko Pad Control UINT 16 1: Push Pads OUT 2: Pull Pads IN 0: Ignored Gecko Preload Force 1: 50N Prim. UINT 16 Threshold 2: 90N 3: 120N 0: Do not reset, keep logging Prim.
  • Page 106 Additional Software Options HEX-E/H QC + RG2/6 T->O assembly id: 150 T->O data size: 40 bytes T->O parameters:...
  • Page 107 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Disconnected HEX Device connected UINT 16 64: HEX is connected HEX Status UINT 32 0: No error HEX Filter UINT 16 See below HEX Fx INT 16 1/10 N HEX Fy INT 16 1/10 N...
  • Page 108 Additional Software Options O->T assembly id: 151 O->T data size: 32 bytes O->T parameters: Start Parameter name Bytes Type Comments 0: Ignored HEX Zero UINT 16 1: Zero 2: Unzero 0: Ignored 1: No filtering 2: 500 Hz 3: 150 Hz HEX Filter UINT 16 4: 50 Hz...
  • Page 109 Additional Software Options HEX-E/H QC + VG10 / VGC10 T->O assembly id: 152 T->O data size: 40 bytes T->O parameters: Parameter name Bytes Type Comments Start bit 0: Disconnected HEX Device connected UINT 16 64: HEX is connected HEX Status UINT 32 0: No error HEX Filter UINT 16 See below...
  • Page 110 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Ignored HEX Zero UINT 16 1: Zero 2: Unzero 0: Ignored 1: No filtering 2: 500 Hz 3: 150 Hz HEX Filter UINT 16 4: 50 Hz 5: 15 Hz 6: 5 Hz 7: 1.5 Hz Reserved...
  • Page 111 Additional Software Options HEX-E/H QC + Gecko T->O assembly id: 154 T->O data size: 40 bytes T->O parameters: Parameter name Bytes Type Comments Start bit 0: Disconnected HEX Device connected UINT 16 64: HEX is connected HEX Status UINT 32 0: No error HEX Filter UINT 16 See below HEX Fx...
  • Page 112 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Ignored HEX Zero UINT 16 1: Zero 2: Unzero 0: Ignored 1: No filtering 2: 500 Hz 3: 150 Hz HEX Filter UINT 16 4: 50 Hz 5: 15 Hz 6: 5 Hz 7: 1.5 Hz Reserved...
  • Page 113 Additional Software Options RG2/6 + VG10 / VGC10 T->O assembly id: 156 T->O data size: 64 bytes T->O parameters:...
  • Page 114 Additional Software Options Start Parameter name Bytes Type Comments 0: Disconnected Prim. RG Device connected UINT 16 32: RG2 is connected 33: RG6 is connected Prim. RG Actual Depth INT 16 1/10 mm Prim. RG Actual Relative Depth INT 16 1/10 mm Prim.
  • Page 115 Additional Software Options O->T assembly id: 157 O->T data size: 64 bytes O->T parameters:...
  • Page 116 Additional Software Options Start Parameter name Bytes Type Comments 1/10 mm (corrected with fingertip offset Prim. RG Target Width UINT 16 Prim. RG Target Force UINT 16 1/10 N 0: Ignored Prim. RG Control UINT 16 1: Start motion to target 2: Stop the current motion Prim.
  • Page 117 Additional Software Options RG2/6 + Gecko T->O assembly id: 158 T->O data size: 64 bytes T->O parameters:...
  • Page 118 Additional Software Options Parameter name Bytes Type Comments Start bit 0: Disconnected Prim. RG Device connected UINT 16 32: RG2 is connected 33: RG6 is connected Prim. RG Actual Depth INT 16 1/10 mm Prim. RG Actual Relative Depth INT 16 1/10 mm Prim.
  • Page 119 Additional Software Options Sec. Gecko Status UINT 16 Same as above Sec. Gecko Last Error Code UINT 16 0: No error Actual Gecko Preload Sec. INT 16 1/100 N Force Actual Gecko Ultrasonic Sec. INT 16 1/100 mm Sensor Value Reserved O->T assembly id: 159 O->T data size: 64 bytes...
  • Page 120 Additional Software Options Start Parameter name Bytes Type Comments Prim. RG Target Width UINT 16 1/10 mm (corrected with fingertip offset ) 1 Prim. RG Target Force UINT 16 1/10 N 0: Ignored Prim. RG Control UINT 16 1: Start motion to target 2: Stop the current motion Prim.
  • Page 121 Additional Software Options VG10 / VGC10 + Gecko T->O assembly id: 160 T->O data size: 64 bytes T->O parameters: Parameter name Bytes Type Comments Start bit 0: Disconnected Prim. VG Device connected UINT 16 16: VG10 is connected 17: VGC10 is connected Prim.
  • Page 122 Additional Software Options O->T assembly id: 161 O->T data size: 64 bytes O->T parameters: Parameter name Bytes Type Comments Start bit 0: Ignore 1: Grip Prim. VG CH A Control UINT 16 2: Idle 3: Release Prim. VG CH B Control UINT 16 Same as Channel A Prim.
  • Page 123 Additional Software Options...

  • Page 124: Hardware Specification

    Hardware Specification Hardware Specification 9.1 Technical sheets Gecko ..........125 HEX-E QC ........128 HEX-H QC........130 Quick Changer ........132 Quick Changer for I/O .....132 Dual Quick Changer ......132 Quick Changer - Tool side ....132 RG2-FT ...........134 RG2 ..........139 RG6 ..........142 VG10 ..........145 VGC10 ..........152...
  • Page 125 Hardware Specification Gecko General Properties Unit Gripper Polished Workpiece Material Acrylic Glass Sheet Metal Steel [kg] Maximum payload (x2 safety factor) 14.3 14.3 12.1 12.1 [lb] Preload required for max adhesion Detachment time [msec] Holds workpiece on power loss? Pads 150 000 to 200 000 cycles for HIGH preload Change-out interval [cycles]...
  • Page 126 See Cleaning Station Manual Effectiveness on Different Materials The Gecko Gripper is best suited for smooth, low surface roughness substrates that are generally flat, stiff, and rigid. For other materials, the Gecko Gripper’s effectiveness drops depending the stiffness and roughness of the picking surface. The table below shows a relationship between rigid and flexible substrates, surface finish, payload and the required preload to pick up said substrate .
  • Page 127 This table is to be utilized as a guide to better understand the payload capacity and substrate type for the Gecko Gripper. The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks used to determine the values.
  • Page 128 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 129 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 130 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 131 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 132 Hardware Specification Quick Changer Quick Changer for Dual Quick Changer Quick Changer - Tool side If not specified, the data represent the combination of the different Quick Changer types/sides. Technical data Typical Units Permissible force* 400* Permissible torque* [Nm] [kg] Rated payload* [lbs] Repeatability...
  • Page 133 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 134 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 135 Hardware Specification RG2-FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters.
  • Page 136 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 137 Hardware Specification NOTE: During the fingertip design, the following shall be considered to maintain optimal performance: Clear optical path for the proximity sensors Protect the proximity sensors from direct sunlight or strong light source Avoid dust and liquid penetration WARNING: The proximity sensors are sensitive parts and shall be protected against: Direct strong light (such as directional laser sources) Direct high temperature...
  • Page 138 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 139 Hardware Specification RG2 Gripping Speed Graph RG2 Work Range...
  • Page 140 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 141 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 142 Hardware Specification RG6 Gripping Speed Graph RG6 Work Range...
  • Page 143 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 144 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 145 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 146 Internal Diameter Gripping Area Image [mm] [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 147 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. Some of the most common non-porous materials are listed below: •...
  • Page 148 Hardware Specification • Low density cardboard • Low density paper • 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...
  • Page 149 Hardware Specification Vacuum Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.: % vacuum inHg Typically used for 0.00rel. 0.00rel. 0.0rel. No vacuum / No lifting capacity 1.01 abs. 101.3 abs. 29.9 abs. 0.20rel. 20.3rel.
  • Page 150 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 151 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 [kg] With customized attachments 33.1 [lb] Vacuum cups [pcs.] Gripping time 0.35 Releasing time 0.20 Vacuum pump...
  • Page 152 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 153 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 154 Hardware Specification The Extension Pipe can be mounted in any of the holes by simply screwing it in and adding a fitting on top as shown in the image below. 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.
  • Page 155 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 156 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 157 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 158 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. Some of the most common non-porous materials are listed below: •...
  • Page 159 Hardware Specification Fittings and Blind Screws. It is possible to change suction cups simply by pulling them off the fittings. It might be a bit challenging to remove the 15 mm Diameter vacuum cups. As suggestion try to stretch the silicon to one of the sides and then pull it out.
  • Page 160 Hardware Specification Vacuum Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.: % vacuum inHg Typically used for 0.00rel. 0.00rel. 0.0rel. No vacuum / No lifting capacity 1.01 abs. 101.3 abs. 29.9 abs. 0.20rel. 20.3rel.
  • Page 161 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 162: Mechanical Drawings

    Hardware Specification 9.2 Mechanical Drawings 9.2.1 Adapter plate(s)
  • Page 163 Hardware Specification Adapter I...
  • Page 164 Hardware Specification Adapter J...

  • Page 165: Mountings

    Hardware Specification 9.2.2 Mountings Quick Changer - Robot side .....166 Quick Changer for I/O - Robot side ..167 Dual Quick Changer ......168 HEX-E/H QC ........169...
  • Page 166 Hardware Specification Quick Changer - Robot side * Distance from Robot flange interface to OnRobot tool. All dimensions are in mm and [inches].
  • Page 167 Hardware Specification Dual Quick Changer * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
  • Page 168 Hardware Specification HEX-E/H QC * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].

  • Page 169: Tools

    Hardware Specification 9.2.3 Tools Gecko ..........170 RG2-FT ...........171 RG2 ..........172 RG6 ..........173 VG10 ..........174 VGC10 ..........176 Quick Changer - Tool side ....178...
  • Page 170 Hardware Specification Gecko All dimensions are in mm and [inches].
  • Page 171 Hardware Specification RG2-FT All dimensions are in mm and [inches].
  • Page 172 Hardware Specification All dimensions are in mm and [inches].
  • Page 173 Hardware Specification All dimensions are in mm and [inches].
  • Page 174 Hardware Specification VG10 All dimensions are in mm and [inches].
  • Page 175 Hardware Specification All dimensions are in mm and [inches].
  • Page 176 Hardware Specification VGC10 All dimensions are in mm and [inches].
  • Page 177 Hardware Specification All dimensions are in mm and [inches].
  • Page 178 Hardware Specification Quick Changer - Tool side All dimensions are in mm and [inches].

  • Page 179: Center Of Gravity

    Hardware Specification 9.3 Center of Gravity COG, TCP, and weight parameters of the single devices (without any mounting/adapter): HEX-E/H QC Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=0 0.35 kg cY=5 0.77 lb Z=50 cZ=20 Gecko Coordinate system TCP [mm] Center of Gravity [mm] Weight...
  • Page 180 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˚ VG10 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=15 1.62 kg cY=0 3.57 lb Z=105 cZ=54 * With arms folded back VGC10...

  • Page 181: Maintenance

    VG10 / VGC10.........183 Gecko Gecko Gripper pads are made from a precision cast silicone or polyurethane film with a gecko microstructure. Contact with sharp objects may damage the pad surface and impair function. The Gecko Gripper performance is maximized when the pads are clean and dry. The pads can collect dust, so it is best to use the Gecko Gripper in a clean environment and/or establish a routine cleaning schedule.
  • Page 182 Maintenance Step 2: Insert the edge of the pad removal tool between the shiny silver plate of the pads and the dull backing plate. Leverage the pad removal tool against the gripper housing to pry off the used pad. Repeat for all pads.
  • Page 183 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 184: Warranties

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

  • Page 185: Certifications

    Certifications 12 Certifications...
  • Page 186 Certifications...
  • Page 187 Certifications...
  • Page 188 Certifications...
  • Page 189 Certifications...
  • Page 190 Certifications...

  • Page 191: Declaration Of Incorporation

    DENMARK declares that the product: Type: Industrial Robot Gripper Model: Gecko Gripper Generation: 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 192 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: Serial: 1000000000-1009999999...
  • Page 193 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: Serial: 1000000000-1009999999...
  • Page 194 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: 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 195 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: 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 196 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: 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 197 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: 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 198 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: 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.

This manual is also suitable for:

Rg2Rg2-ftRg6Vg10Vgc10Hex-e qc ... Show all

Table of Contents