OnRobot VGC10 User Manual
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OnRobot VGC10 User Manual

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USER MANUAL
FOR U R ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.05

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Summary of Contents for OnRobot VGC10

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

  • Page 2: Table Of Contents

    Introduction Contents Contents ............................2 1 Introduction ..........................4 1.1 Important Safety Notice ..................... 4 1.2 Scope of the Manual ......................4 1.3 Naming convention ......................4 1.4 How to read the Manual..................... 5 2 Safety............................6 2.1 Intended Use ........................6 2.2 General Safety Instructions ....................
  • Page 3 Introduction 7 Hardware Specification......................141 7.1 Technical sheets......................141 7.2 Mechanical Drawings ..................... 179 7.2.1 Adapter plate(s) ....................179 7.2.2 Mountings......................179 7.2.3 Tools........................184 7.3 Center of Gravity......................194 8 Maintenance ........................196 9 Warranties ........................... 199 9.1 Patents .......................... 199 9.2 Product Warranty ......................

  • 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: 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 Safety CAUTION: Before pressing the button always make sure that no part will be dropped due to the loss of gripper power. If Dual Quick Changer is used it will cycle the power for both sides. NOTE: If the robot program is started and one of the safety switches has been previously pressed, the second popup will appear.

  • Page 11: Operation Mode(S)

    - RG2 or product combinations - RG6 or - VG10/VGC10 Generally, the two modes of operation require the same installation/operation steps. Where the two modes require different steps it is highlighted and referred as: • via Tool Connector...

  • Page 12: Installation

    Installation Installation 4.1 Overview For a successful installation the following steps will be required: • Mount the components • Wire the cables • Setup the software In the following sections, these installation steps will be described. 4.2 Mounting Required steps: •...

  • Page 13: Quick Changer Options

    Installation 4.2.1 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 14 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 15: Tools

    4.2.2 Tools Gecko ..........15 RG2 ..........16 RG2-FT ..........17 RG6 ..........18 VG10 ..........19 VGC10 ..........19 Quick Changer - Tool side ....20 Gecko Step 1: Move the tool close to the Quick Changer as illustrated.
  • Page 16 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 17 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 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. To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order.
  • Page 19 To unmount the tool, press the aluminum button on the Quick Changer and repeat the steps in the reverse order. VGC10 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.
  • Page 20 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 21: Wiring

    The two operation modes require different wiring. Via Tool Connector ......21 Via Compute Box ......22 DANGER: Use only original OnRobot tool data cables. Via Tool Connector For e-Series Connect the Quick Changer to the UR's tool connector. DANGER: Never connect the Quick Changer for I/O to an e-Series UR robot's Tool Connector.

  • Page 22: Tool Data Cable

    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 23: 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 24: Power Supply

    (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). Wiring via Compute Box is finished.

  • Page 25: Software Setup

    Insert the OnRobot USB drive in the USB slot on the right side of the Teach Pendant. Select the Setup Robot option from the main menu, then the URCaps option. Tap on the + sign to browse for the OnRobot URCap file. It can be found in the usbdisk/UR/URCAP folder. Tap on Open.
  • Page 26 The minimum UR PolyScope version is 5.4. Please remove all previous OnRobot URCap version(s) before the installation. Insert the OnRobot USB drive in the USB slot on the top right side of the Teach Pendant. Then tap on the menu (top right corner of the screen), then from the System section tap on...

  • Page 27: Uninstall Software

    Installation Tap on the + sign to browse for the OnRobot URCap file. It can be found in the usbdisk/UR/URCAP folder. Tap on Open. Then the system needs to be restarted for the changes to take effect. Tap on the Restart button and then wait for the system to be restarted.
  • Page 28 Installation Initialize the robot.
  • Page 29 (top right corner of the screen), then from the System section tap on the URCaps menu. Select the OnRobot URCap file. Tap on the - sign. Then the system needs to be restarted for the changes to take effect. Tap on the Restart button and then wait for the system to be restarted.

  • Page 30: Urcap Setup

    Installation 4.4.3 URCap setup For the e-Series UR robots, tap on the Installation tab in the top menu. Then tap on the URCaps.
  • Page 31 Installation For the CB3 UR robots select the Installation tab, then select OnRobot Setup. The following screen is shown:...
  • Page 32 Installation Device info In the normal view of the panel, the available functions are shown below: Dropdown menu to select a device-robot communication channel: Select whether you want to discover the devices connected to the tool connector or to the compute box. Use the reload button to find new available devices.
  • Page 33 1. Press the General dropdown menu on the left side. 2. Press the Tool IO tab. 3. In the Controlled by dropdown menu select OnRobot as shown in the image below. 4. Make sure to save the changes to be part of the current installation.
  • Page 34 NOTE: If the Tool connector option is selected in the Device info drop-down menu but no OnRobot product is connected to the tool connector then a background service program is running every 2 seconds. In addition to that the Tool IO is set to be logic high and low randomly.
  • Page 35 Installation Device info The Selected IP address, Compute Box Versions, UR Robot IP and UR Robot subnet mask are shown. Errors This displays information about the errors if there is any. Device name The Serial number, System health and Firmware version are shown. Update: this will update the firmware if an update is available.
  • Page 36 (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.
  • Page 37 Installation The configuration panels for the HEX are shown in the image below: Hand Guide Require holding Hand Guide button: If checked (recommended) the Hand Guide enable button needs to be pressed constantly during the hand guiding. If unchecked, the hand guiding could be started by pressing the enable button and stopped by pressing the enable button again.
  • Page 38 (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.
  • Page 39 Installation RG2-FT The configuration panels for the RG2-FT are shown in the image below: Hand Guide Require holding Hand Guide button: If checked (recommended) the Hand Guide enable button needs to be pressed constantly during the hand guiding. If unchecked, the hand guiding could be started by pressing the enable button and stopped by pressing the enable button again.
  • Page 40 Installation Proximity offset In the normal view of the panel, the set values are shown. To change the values, press on the following screen will show: Calibrated value: shows the value to use for the application. This value is calculated as the Raw value minus the Offset value.
  • Page 41 Installation Offset value: shows the value that, after calibration, will compensate the raw value to have usable Calibrated value. Calibration To calibrate the proximity sensor, follow the steps below. Prepare a white paper and tap on Set proximity offset. The gripper is opened (if it was closed) and a popup window will be shown. Place the white paper between the fingers and tap on Continue.
  • Page 42 (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.
  • Page 43 Installation RG2/6 The configuration panels for the RG2/6 are shown in the image below: In the normal view of the panel the TCP of the robot can be overwritten by the TCP of the tool by pressing the Automatic overwrite of the robot TCP configuration checkbox. To see more options press on and the following screen will show:...
  • Page 44 TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Mounting In the normal view of the panel, the selected mounting angle is shown. To set the mounting angle press If only one gripper is mounted, follow the steps bellow.
  • Page 45 Installation If two grippers are mounted, follow the steps bellow: When looking at the grippers, make sure that the Quick Changer is orientated with the part 1 on the left side and the part 2 on the right side . The numbers are written on the side of the Quick Changer that connects to the robot.
  • Page 46 Installation Fingertip offset This is used to specify the distance from the inside of the gripper’s aluminum fingertip to the reference point on the attached fingertip. The Fingertip offset for the Standard Fingertips is 4.6 mm when placed in the inner side and - 11.8 mm when placed in the outer side (see image below).
  • Page 47 (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.
  • Page 48 Installation VGC10 The configuration panels for the VGC10 are shown in the image below: Attachment In the normal view of the panel, the selected attachment types such as Standard, Pipe + Cup, Adaptor + Cups, Adaptor + Pipe + Cup and For customization are mentioned. This configuration panel is used to set the TCP in the right position as well as to move the Center of Gravity of the workpiece to the new TCP.
  • Page 49 Installation Here the actual mounting can be selected to set up the TCP correctly. The different options are: • Standard: Device with only four cups attached to it. This selection will set the TCP at the center of the end side of the cups (see table below). •...
  • Page 50 Installation The table below provides an overview of the different attachment combinations, the TCP values that will be set in the robot and an image with a visual representation of the TCP location.
  • Page 51 Installation Attachment TCP (x, y, z) [mm] Image Standard (0, 0, 100) Pipe + Cup (-17, 17, 150) Adaptor + Cups (0, 0, 110) Adaptor + Pipe + Cup (0, 0, 160) For customization (0, 0, 75) The TCP values have their origin in the top part of the gripper as shown in the image below.
  • Page 52 (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static TCP mode). For further information and best practices on the TCP setting see TCP Configuration section. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP.

  • Page 53: Operation

    It is assumed that the Installation has finished successfully. If not, first do the installation steps in the previous section. The OnRobot devices can be operated in 3 different ways. • URCap Commands - provide an easy way to program an application •...

  • Page 54: Urcap Commands

    Gecko ..........54 HEX-E/H QC ........58 RG2-FT ..........75 RG2/6..........93 VG10 / VGC10........96 Gecko Gecko Gripper - Grip The Gecko Gripper - Grip command controls the Gecko Gripper and the robot to grip a part by applying the specified preload force and moving at the specified speed.
  • Page 55 Operation Preload Force: Specify the desired preload force to grip the part. The gripper will perform its grip command until the preload force is reached, at which point the robot will terminate the grip motion and immediately continue onto the next command. The possible values are 50, 90 and 120 N. NOTE: The robot safety settings may need to be changed to allow forces above 50N to be exerted.
  • Page 56 Operation Gecko Gripper - Release The Gecko Gripper - Release command controls the Gecko Gripper and the robot to release the part at a specific waypoint. Pad Control press to move the Gecko pads in. press to move the Gecko pads out.
  • Page 57 Operation The TCP command is used to set the current TCP and/or payload for the robot. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.
  • Page 58 Operation HEX-E/H QC F/T Control Applications such as polishing, deburring, sanding or grinding may require holding constant force/torque to a defined direction during movements. This command alters the trajectory of its child node(s) in order to keep the force/torque values constant along/about the selected axes.
  • Page 59 Operation Custom coordinate systems are calculated from the basis coordinate system and the given Roll, Pitch and Yaw values. For the Custom (Base) coordinate system, it is also possible to use the Get TCP orientation button to specify the orientation of the coordinate system, by the orientation of the current TCP. To test the given orientation, the Rotate tool to this orientation [HOLD] button can be used.
  • Page 60 Operation P gain F and P gain T: The proportional term produces a correction that is proportional to the current error value. Increasing this parameter, has the following effects: faster reaction, overreaction, lower error, stability degradation. I gain F and I gain T: The integral term produces a correction that is proportional to both, the magnitude, and duration of the past error values.
  • Page 61 Operation F/T Move The F/T Move command can be used together with the F/T Waypoint command, to move the robot along a route, or together with the F/T Path to move the robot along a path and stop once the defined force/torque limits are reached (movement interrupted).
  • Page 62 Operation button to specify the orientation of the coordinate system, by the orientation of the current TCP. To test the given orientation, the Rotate tool to this orientation [HOLD] button can be used. Show advanced options If checked then more options become available: F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D If any of the values reach the set threshold the stop is triggered.
  • Page 63 Operation F/T Path The F/T Path command can be used together with the F/T Move or F/T Search command, to record and replay a Path. Type: If relative is selected, the Path is replayed starting from the actual position of the Tool, instead of the absolute position where it was recorded.
  • Page 64 Operation Start Path Replay: Replays the Path, even if it is not saved, only stored in the memory. Stop Path Replay: Stops replaying the Path. Save Path: Saves the Unsaved Path to the Compute Box. NOTE: The robot speed must always be 100%, replaying at lower speed can create a significant deviation from the recorded trajectory.
  • Page 65 Operation F/T Search The F/T Search command is used together with the F/T Waypoint command, to move the robot along a route, or together with the F/T Path to move the robot along a Path and stop once the defined force/torque limits are reached (object found).
  • Page 66 Operation Acceleration: The acceleration and deceleration parameter of the movement. F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D available options more than one can be set. In this case, if any of the values reach the set threshold the stop is triggered.
  • Page 67 Operation F/T Waypoint The F/T Waypoint command is used together with the F/T Move or F/T Search command, to move the robot along a route. There are three types of waypoints (Fixed, Relative, and Variable), that can be used in any combination. NOTE: Do not use consecutive F/T Waypoints that only contain rotations in the same F/T Move command.
  • Page 68 Operation Variable: The position represented by the waypoint in the robot route. A variable can define the target pose. The variable needs to be created first. Relative X, Y, Z, RX, RY, RZ: the distances and rotations this waypoint represents, compared to the previous robot position.
  • Page 69 Operation F/T Zero The F/T Zero command can be used to zero the force/torque values. This command has no return value. F/T Guard Every UR commands that are put under the F/T Guard will be executed, but the robot will stop once one of the set limits is reached.
  • Page 70 Operation Coordinate system The coordinate system used both for the movement and for the sensor reading. It can be set to Base or Tool (according to the UR’s reference frames). F/T Limit This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D available options more than one can be set.
  • Page 71 Operation If the In addition to the force/torque limits, stop if is enabled, then the set digital I/O will also be monitored and once the condition is met (along with the force/torque limit) the robot will be stopped. (e.g.: stop if Fz>5 AND digital_in[7] == True). This command has no return value, and halts the program when limits are reached.
  • Page 72 Operation F/T Insert Part First position the pin or peg that needs to be inserted to the hole pointing in the right direction and close to the hole entrance. The final position and orientation will be corrected by the F/T Insert Part command.
  • Page 73 Operation Gain of force: The proportional gain parameter of the force control for the pushing force, and the side forces on compliant axes. Gain of torque: The proportional gain parameter of the torque control for the compliant axes. NOTE: High gain values can result vibration and protective stop. Higher mass and bigger distance can be vibrating more easily.
  • Page 74 Operation The TCP command is used to set the current TCP and/or payload for the robot. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.
  • Page 75 Operation RG2-FT NOTE: At program start the force/torque finger sensors are automatically zeroed so no need to place an F/T Zero at the beginning of the program. Please make sure that the fingers are not in contact with any obstacle when the program is started.
  • Page 76 Operation Depth compensation: If checked, during closing and opening the gripper, the robot moves to compensate for the circular movement of the fingers, so that the fingertips remain on the target. when pressed, the following graphical illustration will appear in a new page. Auto centering if checked, during closing and opening the gripper, the robot moves the gripper sideways to grab the item symmetrically based on the proximity signals of the fingers.
  • Page 77 Operation F/T Insert Part The F/T Insert Part command can be used for precision fitting an object into a hole. NOTE: To cancel any force/torque offset, execute an F/T Zero command at the beginning of the F/T Insert Part command and make sure the tool is not in contact with any object before starting the F/T Insert Part, otherwise the command may not stop at the given force/torque limit.
  • Page 78 Operation Max depth: The maximum distance the insertion can reach, from the starting point. Show advanced parameters checkbox: If checked, more options become available: Gain of force: The proportional gain parameter of the force control for the side forces on compliant axes. Gain of torque: The proportional gain parameter of the torque control for the compliant axes.
  • Page 79 Operation Compliance or Limit Fx, Tx, Fy, Ty, Tz checkboxes: if checked, the selected axis is compliant, meaning that the movement tries to keep the forces zero in the selected directions. If not checke d a limit can be set for the force or torque, that if reached, stops the command.
  • Page 80 Operation Compliant axis Fx, Fy, Fz, Tx, Ty, Tz: The axis selection that needs to be compliant. If an axis is enabled (compliant) the movement along/about that axis is force/torque controlled otherwise (non -compliant) position controlled. The enabled axis is controlled to keep the set force/torque value constant. At least one compliant axis must be selected.
  • Page 81 Operation I gain F: The force controller can be tuned with this integral gain parameter. If any overshoots or vibrations occur, try lowering the gain value. I gain T: The torque controller can be tuned with this integral gain parameter. If any overshoots or vibrations occur, try lowering the gain value.
  • Page 82 Operation If the force control is overreacting to changes, that is, the tool bounces off the surface, try decreasing the P gain F and P gain T (or D gain F and D gain T, if it is above 1). If the force control is reacting to changes too slowly, that is it keeps pushing the surface hard after touching it, try decreasing the I Gain.
  • Page 83 Operation F/T Move The F/T Move command can be used together with the F/T Waypoint command, to move the robot along a route, or together with the F/T Path to move the robot along a path and stop once the defined force/torque limits are reached (movement interrupted).
  • Page 84 Operation button to specify the orientation of the coordinate system, by the orientation of the current TCP. To test the given orientation, the Rotate tool to this orientation [HOLD] button can be used. Show advanced options If checked then more options become available: F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D If any of the values reach the set threshold the stop is triggered.
  • Page 85 Operation F/T Path The F/T Path command can be used together with the F/T Move or F/T Search command, to record and replay a Path. Type: If relative is selected, the Path is replayed starting from the actual position of the Tool, instead of the absolute position where it was recorded.
  • Page 86 Operation Start Path Replay: Replays the Path, even if it is not saved, only stored in the memory. Stop Path Replay: Stops replaying the Path. Save Path: Saves the Unsaved Path to the Compute Box. NOTE: The robot speed must always be 100%, replaying at lower speed can create a significant deviation from the recorded trajectory.
  • Page 87 Operation F/T Search The F/T Search command is used together with the F/T Waypoint command, to move the robot along a route, or together with the F/T Path to move the robot along a Path and stop once the defined force/torque limits are reached (object found).
  • Page 88 Operation Acceleration: The acceleration and deceleration parameter of the movement. F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D available options more than one can be set. In this case, if any of the values reach the set threshold the stop is triggered.
  • Page 89 Operation F/T Waypoint The F/T Waypoint command is used together with the F/T Move or F/T Search command, to move the robot along a route. There are three types of waypoints (Fixed, Relative, and Variable), that can be used in any combination. NOTE: Do not use consecutive F/T Waypoints that only contain rotations in the same F/T Move command.
  • Page 90 Operation Variable: The position represented by the waypoint in the robot route. A variable can define the target pose. The variable needs to be created first. Relative X, Y, Z, RX, RY, RZ: the distances and rotations this waypoint represents, compared to the previous robot position.
  • Page 91 Operation F/T Zero The F/T Zero command can be used to zero the force/torque values. This command has no return value.
  • Page 92 Operation The TCP command is used to set the current TCP and/or payload for the robot. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.
  • Page 93 Operation RG2/6 RG Grip The RG Grip command is used to grip/release a workpiece. When the RG Grip command is executed, the gripper will try to reach the specified target ( Width and Force) and, if selected, Depth compensation. The different functions are explained below. Select device When two grippers are used, the radio buttons with the gripper's name will appear.
  • Page 94 Operation NOTE: For optimal performance of gripping Force, set the Target Width 1 to 4 mm lower than the Width of the workpiece if the workpiece is grabbed externally or 1 to 4 mm higher if grabbed internally. For optimal performance of Depth compensation set the robot speed slider to 100%.
  • Page 95 Operation The TCP command is used to set the current TCP and/or payload for the robot. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.
  • Page 96 Channel(s): Select which channel perform the action. It is possible to select channel A, B or both. To see which one is channel A and B, for VG10 see stickers under the arms and for VGC10 see the letters on the sides on the housing.
  • Page 97 Operation Seek and auto level: when checked, the gripper will be moved by the robot in the +Z direction (in Tool coordinate system) until it reaches a surface (this is the seek part) with both channels. This feature is only useful if both channels are going to do the grip at the same time. During the motion the gripper's orientation is automatically adjusted to be parallel to the surface (this is the auto level part).
  • Page 98 Channel(s): Select which channel perform the action. It is possible to select channel A, B or both. To see which one is channel A and B, for VG10 see stickers under the arms and for VGC10 see the letters on the sides on the housing.
  • Page 99 Operation The TCP command is used to set the current TCP and/or payload for the robot. TCP offset Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot device dependent calculated TCP. Payload Modify Tool payload: If enabled the UR's payload will be overwritten.

  • Page 100: Urcap Toolbar

    Then press on the OnRobot icon Each OnRobot End of Arm Tooling has its own functionality and that is explained in the sections below. To open up the toolbar in the CB3, press on the OnRobot icon on the top left side.
  • Page 101 Operation To enable/disable the toolbar, press on the OnRobot logo on the top right corner and check/uncheck the Enable toolbar checkbox.
  • Page 102 Operation The table below shows the page where the toolbar for each OnRobot device is explained. Gecko ..........103 HEX-E/H QC ........104 RG2-FT ...........106 RG2 / RG6........109 VG10 / VGC10.........110...
  • Page 103 Operation Gecko To open up the toolbar follow the instructions in the section. How to access the toolbar The toolbar for the Gecko is shown below. press to get the Gecko pads in. press to get the Gecko pads out. : This button only appears if the pads are worn and needs to be replaced.
  • Page 104 Operation HEX-E/H QC To open up the toolbar follow the instructions in the section. How to access the toolbar The toolbar for the HEX is called Hand Guide and it is shown below. This toolbar is used to hand guide the robot by holding the End of Arm Tooling with your hand.
  • Page 105 To stop hand guiding the UR Robot, press the enable button NOTE: The hand guiding could be configured (in the OnRobot installation page) to be enabled with a single tap on the enable button (instead of holding) and stopped with a second tap. However, the holding behavior is recommended for increased safety.
  • Page 106 Operation RG2-FT To open up the toolbar follow the instructions in the section. How to access the toolbar The RG2-FT has a toolbar for gripping functionality and another toolbar for hand guiding. Both are described below. The toolbar for gripping functionality is shown below. Gripper 1 and Gripper 2: In case of using 2 RG grippers you can select which one performs the action.
  • Page 107 Operation The toolbar contains the available axes, the enable button , the zero button and the snap to axes button To select an axis, tap on the appropriate item. An axis is selected if it turns from white to blue In the following example, the X and the Y items are selected to limit the movement along the X and Y axis (planar): NOTE:...
  • Page 108 To stop hand guiding the UR Robot, press the enable button NOTE: The hand guiding could be configured (in the OnRobot installation page) to be enabled with a single tap on the enable button (instead of holding) and stopped with a second tap. However, the holding behavior is recommended for increased safety.
  • Page 109 Operation RG2 / RG6 To open up the toolbar follow the instructions in the section. How to access the toolbar The toolbar for the RG grippers is shown below. Gripper 1 and Gripper 2: In case of using 2 RG grippers you can select which one performs the action. Current width: shows the value.
  • Page 110 Operation VG10 / VGC10 To open up the toolbar follow the instructions in the How to access the toolbar section. The toolbar for the VG grippers is shown below. Gripper 1 and Gripper 2: In case of using 2 VG grippers you can select which one performs the action.

  • Page 111: Urscript Commands

    VG10 / VGC10.........112 RG2-FT When the OnRobot URCap is enabled, there will be a defined RG2-FT script function: rg2ft_proxi_offsets_set(ProxL = 0.0, ProxR = 0.0) This function can be used to manually set offset values of the optical (proximity) finger sensor. The ProxL and ProxR are in millimeters.
  • Page 112 Operation VG10 / VGC10 vg10_grip (channel, vacuum, timeout, alert, tool_index) Commands the VG10 to perform a grip. channel: Tells which channel to be gripped with. 0 = Channel A 1 = Channel B 2 = Channel A and Channel B If not set, this parameter defaults to 2 (A and B).

  • Page 113: Tcp Configuration

    Operation >0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600ms. If not set, this parameter defaults to 5 seconds. autoidle: Tells if the release valve should automatically be turned off when the release is completed and the robot has moved 5cm away from the release position.
  • Page 114 Waypoints according to the Active TCP. For further info about the UR's TCP handling read the UR's Manual. How "far" the TCP needs to be moved to be at the "end" of the OnRobot tools could be found in the Center of Gravity section.
  • Page 115 If not the UR's Move command but the OnRobot F/T Move command is used (for HEX-E/H QC or RG2-FT only): • Use the OnRobot TCP command just before the F/T Move to set the Active TCP to the right value As summary here is a code example:...
  • Page 116 In case when two grippers are used, the Active TCP needs to be selected to which gripper to belong to: • first use an OnRobot TCP command and select from Gripper 1 and Gripper 2 which one to be used •...
  • Page 117 Before you teach any Waypoint make sure to set the Active TCP beforehand: • for Single device go to the OnRobot Installation panel • for Dual devices go to the OnRobot Installation panel and Select the Device (1 or 2) that you are using at the time of the teaching...

  • Page 118: Return Values

    Operation 5.5 Return Values Those OnRobot commands that has return values updates the on_return variable once the command exit. This global variable can be used with the UR’s built in If conditional expressions (for example: if on_return == 1 then do something) to evaluate how the command has ended.

  • Page 119: Feedback Variables

    True if Gripper has detected a workpiece True if Gripper has lost a workpiece so pads needs to gecko_pads_worn True/False be cleaned on_return The return value for the OnRobot commands HEX-E/H QC Feedback Variable Unit Description on_return The return value for the OnRobot commands...
  • Page 120 Operation RG2-FT Feedback Variable Unit Description on_return The return value for the OnRobot commands Length of the 3D force vector F3D = sqrt (Fx2 +Fy2 +Fz2) Length of the 3D force vector for the left finger F3D_Left sensor F3D_Left= √����...
  • Page 121 Operation RG2 / RG6 Feedback Variable Unit Description on_return The return value for the OnRobot commands rg_Busy True/false Whether the gripper is active or not Distance the robot (due to depth compensation) has rg_Depth [mm] moved towards the z axes having as reference the...

  • Page 122: 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 123 • 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 124 - 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 ..........125 HEX-E/H QC ........127 RG2/6..........128 RG2-FT ...........130 VG10 / VGC10.........132...
  • Page 125 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 126 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 127 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 128 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 129 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 130 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 131 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 132 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.
  • Page 133 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 134 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 135 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 136 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 137 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 138 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 139 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 140 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 141: Hardware Specification

    Hardware Specification 7.1 Technical sheets Gecko ..........142 HEX-E QC ........145 HEX-H QC........147 Quick Changer ........149 Quick Changer for I/O .....149 Dual Quick Changer ......149 Quick Changer - Tool side ....149 RG2-FT ...........151 RG2 ..........156 RG6 ..........159 VG10 ..........162 VGC10 ..........169...
  • Page 142 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 143 Hardware Specification Specification or Feature Target value Parts Presence Sensing Yes (Ultrasonic) Pad Material Proprietary silicone blend Wear Properties Depends on surface roughness and preload Pad Attachment Mechanism Magnetic 150000 – 200000 for HIGH PRELOAD Change-out interval 200000 – 250000 for LOW PRELOAD Cleaning system Cleaning station Cleaning interval and % recovery...
  • Page 144 Hardware Specification Preload - 140N Preload - 90N Preload - 40N Example of Stiffness Roughness Payload [kg] Payload [kg] Payload [kg] material 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 ✓...
  • Page 145 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 146 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 147 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 148 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 149 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 150 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 151 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 152 Hardware Specification RG2-FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters.
  • Page 153 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 154 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 155 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 156 Hardware Specification RG2 Gripping Speed Graph RG2 Work Range...
  • Page 157 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 158 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 159 Hardware Specification RG6 Gripping Speed Graph RG6 Work Range...
  • Page 160 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 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 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 164 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 165 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 166 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 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 [hours] 2 channels The VGC10 has 4 holes to use fittings with vacuum cups or blinding screws as needed. It also has lines which show the holes that are communicated together. This is useful when using channels A and B...
  • 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 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...
  • 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 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 176 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 177 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 178 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 179: Mechanical Drawings

    Hardware Specification 7.2 Mechanical Drawings 7.2.1 Adapter plate(s) No adapter plates are required. 7.2.2 Mountings Quick Changer - Robot side .....180 Quick Changer for I/O - Robot side ..181 Dual Quick Changer ......182 HEX-E/H QC ........183...
  • Page 180 Hardware Specification Quick Changer - Robot side * Distance from Robot flange interface to OnRobot tool. All dimensions are in mm and [inches].
  • Page 181 Hardware Specification Quick Changer for I/O - Robot side * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
  • Page 182 Hardware Specification Dual Quick Changer * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].
  • Page 183 Hardware Specification HEX-E/H QC * Distance from Robot flange interface to OnRobot tool All dimensions are in mm and [inches].

  • Page 184: Tools

    Hardware Specification 7.2.3 Tools Gecko ..........185 RG2-FT ...........186 RG2 ..........187 RG6 ..........188 VG10 ..........189 VGC10 ..........191 Quick Changer - Tool side ....193...
  • Page 185 Hardware Specification Gecko All dimensions are in mm and [inches].
  • Page 186 Hardware Specification RG2-FT All dimensions are in mm and [inches].
  • Page 187 Hardware Specification All dimensions are in mm and [inches].
  • Page 188 Hardware Specification All dimensions are in mm and [inches].
  • Page 189 Hardware Specification VG10 All dimensions are in mm and [inches].
  • Page 190 Hardware Specification All dimensions are in mm and [inches].
  • Page 191 Hardware Specification VGC10 All dimensions are in mm and [inches].
  • Page 192 Hardware Specification All dimensions are in mm and [inches].
  • Page 193 Hardware Specification Quick Changer - Tool side All dimensions are in mm and [inches].

  • Page 194: Center Of Gravity

    Hardware Specification 7.3 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 195 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 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=-1 0.814 kg cY=-1 1.79 lb cZ=37 * With no attachments...

  • Page 196: Maintenance

    Use original spare parts, and original service instructions for the OnRobot's End of Arm Tooling and the robot. Failure to comply with this precaution can cause unexpected risks, resulting in severe injury. If you have questions regarding spare parts and repair, please visit our website www.onrobot.com...
  • Page 197 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 198 A filter service kit is available, which include both new filters and tools needed. Filter service kit for VG10, PN 100064 Filter service kit for VGC10, PN 103757 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.

  • Page 199: 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 200: Certifications

    Certifications 10 Certifications...
  • Page 201 Certifications...
  • Page 202 Certifications...
  • Page 203 Certifications...
  • Page 204 Certifications...
  • Page 205 Certifications...

  • Page 206: Declaration Of Incorporation

    Certifications 10.1 Declaration of Incorporation Gecko 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: Gecko Gripper...
  • Page 207 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 208 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 209 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 210 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 211 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 212 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 213 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.

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