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- Page 1 CoboSafe-CBSF Force and Pressure Measurement System 325-2810-012US15 Operating Manual Force Gauges CoboSafe-CBSF GTE Industrieelektronik GmbH Helmholtzstr. 21, 38-40 | 41747 Viersen, GERMANY | info@gte.de | Tel. +49 2162 3703-0 | www.gte.de...
- Page 2 Germany Support-Hotline: +49 2162 3703-0 E-mail: cobosafe@gte.de © 2022 GTE Industrieelektronik GmbH – This document and all illustrations contained therein are protec- ted by copyright and may not be removed, altered or distributed without the express consent of the manufacturer!
- Page 3 PREFACE This operating manual describes the operation of the CoboSafe-CBSF force measuring de- vices. The measuring method is part of a system and can only be used in conjunction with the following components: ■ CoboSafe-Vision ■ CoboSafe-Scan ■ CoboSafe-Tek Before beginning work of any kind, read this manual and the general safety instruc- tions.
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Page 4: Table Of Contents
Structure and Function CoboSafe CBSF- Basic ......19 CoboSafe CBSF-Basic ........19 Menu Navigation CBSF-Basic . - Page 5 16.1 Technical Data Force Sensor CoboSafe-CBSF ....42 16.2 Technical Data CoboSafe CBSF-Basic ......43 16.3 Technical Data Accessories.
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Page 6: About This Manual
ABOUT THIS MANUAL About this Manual This manual describes operation of the CoboSafe-CBSF force measurement device. The mea- suring method is part of a system and may be used only in conjunction with the following components: ■ Software CoboSafe-Vision ■ Pressure Measurement Set CoboSafe-Scan ■... -
Page 7: Explanation Of Symbols
ABOUT THIS MANUAL Warnings This combination of symbol and signal word indicates an im- DANGER mediately dangerous situation that will lead to death or severe injuries if not avoided. This combination of symbol and signal word indicates a possibly WARNING GEFAHR dangerous situation that could lead to death or severe injury if not avoided. -
Page 8: Appearance Of Instructions
(PPE), special tools and materials are different for each step/process. It is imperative that the specified requirements for all instructions are met. The following illustration shows an example of how a set of instructions is structured. Inspect and clean CoboSafe CBSF-75 Personnel Personal Protective Equipment ■... -
Page 9: For Your Safety
FOR yOUR SAFETy the general safety instructions. If necessary: List of special tools required. A set of Allen keys is needed to check and clean the device. If necessary: List of consumables required. In the example above, a cleaning agent and a soft, lint-free cloth is needed. -
Page 10: Residual Risk When Using Cobosafe-Cbsf Force Gauges
FOR yOUR SAFETy Residual Risk When Using CoboSafe-CBSF Force Gauges Please read the chapter "Residual risks" in the corresponding document "CoboSafe – General Safety Instructions". Attention! The measurement setup must meet requirements regarding stiffness and at the same time guarantee stability. Therefore, hard and stiff components must be used, which must be firmly connected to each other. -
Page 11: Brief Description
BRIEF DESCRIPTION Brief Description The CoboSafe CBSF force gauges accurately check the permissible load thresholds for work- places with human-robot collaboration (HRC). The handy devices are characterized by their small design, which allows easy integration of the force sensors into measurement setups - even in confined spaces. -
Page 12: Sings And Labels
SINGS AND LABELS Sings and Labels The following markings shall be affixed to the CoboSafe CBSF: Danger of Crushing The sign indicates a danger of crushing hands and fingers. Ne- CAUTION ver touch the force sensor during measurement. Fig. 3: danger of crushing Type plate The type plate is attached to the side of the CoboSafe-CBSF force sensor. -
Page 13: Informative Value Of The Measurement Results
INFORMATIVE VALUE OF THE MEASUREMENT RESULTS Inspection Date A label on the side of the measuring device indicates when the device has to be inspect and calibrate by the manufacturer. The year printed on the label is the year in which the next inspection is due. - Page 14 INFORMATIVE VALUE OF THE MEASUREMENT RESULTS Qualitative curve of an impact force Fig. 6: Curve of an impact force ■ Ft maximum transient force [N] [1] ■ Fs maximum quasistatic force [N] [2] ■ Quasistatic limit for relevant body region [3] ■...
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Page 15: Structure And Function Cobosafe-Cbsf
STRUCTURE AND FUNCTION COBOSAFE-CBSF Structure and Function CoboSafe-CBSF CoboSafe-CBSF-Force Sensors Fig. 7: CoboSafe-CBSF ■ Measuring body [1] ■ Measuring plate [2] ■ Display [3] ■ Pushbutton on rear panel [4] ■ Base plate [5] ■ Handle surfaces [6] ■ Holder and mounting option for adapter. Threaded hole M4 x 8 mm. [7] Dimensioned drawing of the base plate A dimensioned drawing of the base plate can be found in the appendix. -
Page 16: Display
STRUCTURE AND FUNCTION COBOSAFE-CBSF Display Fig. 8: Starting display ■ Charge level [1] ■ Charging display [2] ■ Time [3] ■ Measurement number [4] ■ Measured value display [5] ■ Command line [6] Menu Navigation CBSF is operated by pressing the button on the back of the device briefly or for a longer time. ■... - Page 17 STRUCTURE AND FUNCTION COBOSAFE-CBSF Menu list and functions Menu Submenu Function Switches off CoboSafe-CBSF Manual Press the button to activate measurement. Measurement begins when force reaches F > 20 N Auto Measurement begins automatically when force reaches F > 20 N Switches on the wireless transmission Switches off wireless transfer transmission Cancel...
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Page 18: Setting The Date And Time
STRUCTURE AND FUNCTION COBOSAFE-CBSF Setting the Date and Time The date and time are set using the CoboSafe-Vision software. Before first use, connect the CBSF devices to the PC and start the software. Use the 'CBSF Sync.' function to program and update. -
Page 19: Structure And Function Cobosafe Cbsf- Basic
STRUCTURE AND FUNCTION COBOSAFE CBSF- BASIC Structure and Function CoboSafe CBSF- Basic CoboSafe CBSF-Basic ■ Measuring Surface [1] ■ Enclosure [2] ■ Display [3] ■ Softkeys [4] ■ Handgrip [5] ■ Battery Compartment [6] Fig. 10: CBSF-Basic Menu Navigation CBSF-Basic... - Page 20 DAMPING ELEMENT K1 AND SPRING RATE K2 325-2810-012US15 CoboSafe-CBSF...
- Page 21 DAMPING ELEMENT K1 AND SPRING RATE K2 CoboSafe-CBSF 325-2810-012US15...
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Page 22: Damping Element K1 And Spring Rate K2
Spring rate K2 The K2 spring rates are special springs built into the CoboSafe CBSF force sensors. They enable a correct simulation of the biofidelic body resistance. The springs (K2) of the manufacturer are all tested for suitability and are subject to strict selection criteria. -
Page 23: Preparing For Measurement
PREPARING FOR MEASUREMENT 10 Preparing for Measurement The force sensors CoboSafe-CBSF are the fundamental device for force and pressure measure- ments. The measuring device is positioned at the collision points determined for the application. The additional damping element K1 is placed on the measuring surface, when this is defined in the test specification and included in the configuration of the measurement plan. - Page 24 PREPARING FOR MEASUREMENT Tilting and falling components Risk of injury due to tilting and falling components of the measu- WARNING GEFAHR rement setup! ■ Construct the measuring setup with care. ■ If the setup with one person is not safely possible, get a second person to help.
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Page 25: Defining Measurement Target
PREPARING FOR MEASUREMENT 10.2 Defining Measurement Target The collision scenarios have to be defined before measurement begins. Body zones where potential collisions between robot work site personnel and robots have to be identified. The collision positions and collision vectors result from the determined scenarios for which collision measurement has to be performed. - Page 26 PREPARING FOR MEASUREMENT Dangerous situations when handling the scaffold Ensure the following points when erecting the scaffolding: WARNING GEFAHR ■ The contact surface for the force sensor must have a mini- mum spring constant of 2000 N/mm in the direction of the collision vector.
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Page 27: Robot Parameters
PREPARING FOR MEASUREMENT Fig. 14: Example: Robot with rail framework for mounting the assembly adapter 10.4 Robot Parameters Set robot parameters Material damage due to high collision speeds, forces and pres- NOTICE sures! ■ Only combine measurement units as described in this manual. -
Page 28: Checking The Components
PREPARING FOR MEASUREMENT Guide travel path collision: Personnel Personal Protective Equipment ■ Laboratory scientist ■ Protective equipment required by the ■ System integrator robot manufacturer ■ Robot operator The collision kinematics on the robot are determined by defining the robot parameters. The determination must be made according to the objective of the measurement. -
Page 29: Testing Proper Functioning Of Force Sensor
If the measured value devia- tes, the force sensor is damaged. The CoboSafe CBSF has been tested to confirm proper functioning. Damaged force sensor A damaged force sensor must not be used for measurement and must be replaced. -
Page 30: Checking And Cleaning The Collision Surface Of The Robot
Ensure that the scaffolding and the contact surface meet the requirements of the 3 ► measuring setup All components have been tested and cleaned as described. 10.6 Attach CoboSafe CBSF to Contact Surface 10.6.1 Attaching Mounting Adapter to contact surface Attaching mounting adapter to contact surface Personnel Personal Protective Equipment ■... -
Page 31: Attach Cobosafe-Cbsf To Mounting Adapter
PREPARING FOR MEASUREMENT Fig. 16: Mounting adapter The mounting adapter is firmly connected to the contact surface. 10.6.2 Attach CoboSafe-CBSF to Mounting Adapter Attach the CoboSafe-CBSF to mounting adapter Personnel Personal Protective Equipment ■ Protective clothing ■ Laboratory scientist ■... -
Page 32: Mounting The K1 Damping Element
PREPARING FOR MEASUREMENT Fix the force sensor to the mounting adapter 3 ► using the thumbscrew. Fig.19: Fix CBSF 4 ► Align the force sensor. Consider collision vector. 5 ► Close locking mechanism. Fig.20: Locking The CoboSafe-CBSF is firmly connected to the contact surface. The mounting adapter is firmly connected to the contact surface. -
Page 33: Applying Pressure Measuring Film
PERFORMING MEASUREMENT 10.8 Applying Pressure Measuring Film When the damping element K1 has been correctly mounted on the force sensor - if required according to the measuring plan - the pressure measuring sensor (pressure measuring film) is positioned on the measuring surface. The pressure sensor must be securely positioned. Simple aids may have to be used for this purpose. -
Page 34: Performing A Measurement With The Cobosafe-Cbsf
PERFORMING MEASUREMENT Test measurements The initial test measurements can be performed without pressure measurement to save consumables. The results of force measurement appear on the CBSF-XS dis- play. If the application is such that the forces are below the threshold values, pressure measurement can be added. - Page 35 PERFORMING MEASUREMENT Switch on the force sensor by pressing 2 ► the pushbutton Fig.23: Pushbutton 3 ► Read and note the displayed measure- ment number. Fig.24: Measurement number Start robot movement. 4 ► The robot moves in the intended vector and collides centrally with the measuring unit.
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Page 36: Transmitting Measured Data Cobosafe-Cbsf
TRANSMITTING MEASURED DATA COBOSAFE-CBSF 12 Transmitting Measured Data CoboSafe-CBSF The force measurements performed are stored and indexed in the CoboSafe-CBSF. The record receives the following information: ■ Date ■ Time ■ Measurement number ■ Device type ■ Damping element K1 used ■... -
Page 37: Maintaining Functionality
MAINTAINING FUNCTIONALITy 13 Maintaining Functionality The CoboSafe-CBSF force measuring devices should be inspected before and after measure- ment to ensure proper functioning. Look for apparent damage and excessive pollution. Never use a damaged device. If there is any uncertainty regarding proper functioning or precision, e.g., because the device has been dropped or shows damage, the CoboSafe-CBSF should be sent to the manufacturer to be inspected. -
Page 38: Checking And Cleaning Cobosafe-Cbsf
MAINTAINING FUNCTIONALITy 13.2.1 Checking and Cleaning CoboSafe-CBSF Checking and cleaning CoboSafe-CBSF Wipe the measuring surface and housing with a clean cloth. 1 ► In particular, remove coarse particles (e.g., grains of sand or metal chips). If present: Remove adhesive residue. Use a soft cloth to clean the display on the device as well. -
Page 39: Recharging Batteries
MAINTAINING FUNCTIONALITy 13.3 Recharging Batteries The specifications of the charger can be found in the manufacturer's documents and on the type plate. If the specification does not correspond to the country-specific specifications and designs, the charger must be replaced. The technical data for charging voltage and maximum charging current must be observed. -
Page 40: Temperature/Humidity
13.5.5 Spare Parts Use only original spare parts or parts approved by the manufacturer. Spare parts can be obtained from GTE Industrieelektronik GmbH. Please contact customer service for assistance. 13.5.6 Firmware Update Firmware is updated via the CoboSafe-Vision software (this does not apply to CBSF-Basic). -
Page 41: Detecting And Remedying Malfunctions
DETECTING AND REMEDyING MALFUNCTIONS 15 Detecting and Remedying Malfunctions Error description Cause Remedy Personnel Force measure- Wrong selection of Adjust robot parameters Laboratory scientist, ment repea- robot parameters. System integrator tedly exceeds CoboSafe-CBSF Have CoboSafe-CBSF Manufacturer limit values incorrectly calibrated calibrated CoboSafe-CBSF Check CoboSafe-CBSF... -
Page 42: Technical Data
TECHNICAL DATA 16 Technical Data 16.1 Technical Data Force Sensor CoboSafe-CBSF Weight and dimensions (mm): Specification Value Unit Weight <> 790 g Diameter 80 mm Height 60 … 107 mm Measuring surface Diameter 80 mm Measuring surface Height 60 … 107 mm Performance data: Specification Value Unit... -
Page 43: Technical Data Cobosafe Cbsf-Basic
+10 … +30 °C Storage conditions: Specification Value Unit Relative humidity, non-condensing 20 … 90 % RH Temperature +10 … +30 °C 16.2 Technical Data CoboSafe CBSF-Basic Weight and dimensions (mm): Specification Value Unit Weight 1400 g Measuring surface diameter 80 mm... - Page 44 TECHNICAL DATA Performance Data: Specification Value Unit Voltage supply 2,4 V Measured curve memory 100 pieces Measuring range 20 … 500 N Maximum pressure, on measuring surface 1500 N/cm Measuring inaccuracy, typical value ± 1 % Measuring error, maximum ( in measurement ±...
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Page 45: Technical Data Accessories
TECHNICAL DATA 16.3 Technical Data Accessories Specification Value Unit Nominal voltage, primary side 100 … 230 V (AC) Nominal voltage, secondary side Charging current 0,7 … 1,2 A 16.4 Requirements for Measurement Setup Mechanical requirements contact surface: Specification Value Unit Stiffness measuring points >... -
Page 46: Costumer Service
Mo - Thu from 8:00 to 16:00 (08 AM – 04 PM) Fridays from 8:00 to 14:30 (08 AM – 02:30 PM) +49 2162 3703-0 E-mail cobosafe@gte.de Postal address GTE Industrieelektronik GmbH Customer Service Helmholztstraße 21 41747 Viersen, Germany Further information www.cobosafe.com... -
Page 47: Appendix: Dimension Drawing Mounting Adapter
APPENDIX: DIMENSION DRAWING MOUNTING ADAPTER: 19 Appendix: Dimension drawing mounting adapter: Dimension drawing of mounting options on the CoboSafe-CBSF for holding auxiliary tools (Drawing not to scale) CoboSafe-CBSF 325-2810-012US15...