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- Page 1 CoboSafe-Scan Force and Pressure Measurement System 325-2810-013US13 Operating Manual Pressure Measurement Set CoboSafe-Scan 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 pressure measurement procedure CoboSafe-Scan and its handling. The measuring method is part of a system and can only be used in conjunction with the following components: ■ Software CoboSafe-Vision ■ Force gauge from the CoboSafe-CBSF product series...
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Page 4: Table Of Contents
10.1 Temperature and Humidity ....... . 23 11 Detecting and Remedying Malfunctions ......23 325-2810-013US13 CoboSafe-Scan... - Page 5 14 Disposal..........25 14.1 Disposal by the Manufacturer ......25 CoboSafe-Scan 325-2810-013US13...
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Page 6: About This Manual
ABOUT THIS MAnUAl About this Manual This manual describes the pressure measurement procedure CoboSafe-Scan and its handling. The measuring method is part of a system and can only be used in conjunction with the follo- wing components: ■ Software CoboSafe-Vision ■... -
Page 7: Explanation Of Symbols
Step-by-step instructions. The instructions are numbered in the or- 1 ► der of the respective steps. Results of steps References to sections of this manual and to other applicable documents lists with no specific order CoboSafe-Scan 325-2810-013US13... -
Page 8: Appearance Of Instructions
A triangle precedes the title of instructions or a step to be performed. Indicates the qualification required of personnel to be able to safely perform the action described. In the above example, the person performing the task must be a laboratory 325-2810-013US13 CoboSafe-Scan... -
Page 9: For Your Safety
Intended Use CoboSafe-Scan is a pressure measurement method used to determine the pressure forces and pressure distribution in collisions with collaborating robots. The pressure values are calculated using the CoboSafe-Vision software based on the underlying standards and publications (Read the related document ' General Safety Instructions', chapter 'Underlying Standards and Infor- mation Material'). -
Page 10: Residual Risk When Using Cobosafe-Cbsf Force Sensors
Wear specified personal protective equipment. Some components of the measuring system are heavy and hard. If force sensors, mounting adapters, transport cases, film rolls or the scanner are dropped, severe inju- ries up to crushing and bone fractures can result. 325-2810-013US13 CoboSafe-Scan... -
Page 11: Brief Description
Fujifilm Prescale film A, type llW (optionally available: lW) [1] ■ Fujifilm Prescale film C (developer) ■ GTE calibration sheet [3] ■ Scanner type FUJITSU fi-65F with original power supply and USB transfer cable [4] Fig. 2: Scope of delivery 1... -
Page 12: Updates Und Upgrades
After updating the CoboSafe-Vision software, the software is up to date as well as the related user manual. This also includes the present document CoboSafe-Scan. The documentation must be available in printed form (Please note the related document “CoboSafe – General Safety Instructions”). -
Page 13: Safety-Relevant Information
(color change or developer) in each case. The Fujifilm Prescale film is available for diffe- rent pressure ranges. The types lW and llW are used for CoboSafe-Scan. The type desig- nation is shown on the label of the packaging unit [1]. -
Page 14: Durability
After use, repack the rolls in the UV-resistant original sleeves and place the rolls back in the original carton with the correct labeling to ensure safe identification and a clear overview of the shelf life. ■ Protect the packaging unit from moisture. 325-2810-013US13 CoboSafe-Scan... -
Page 15: Calibration Element
In order to filter these 'error pixels' at the cause, it is possible to use a specified microfiber cloth on the pressure measuring film (please consider national specifications). Compensation of the surface by microfiber cloth To compensate for the surface contours, a microfiber cloth with a thickness of ≤ 0.5 mm can be used. CoboSafe-Scan 325-2810-013US13... -
Page 16: Quantification Of The Measurement Data
±3 % in the range of 0 - 100 % relative humidity at 25 °C. ■ A commercially available thermometer for determining the temperature of the ambient air. The thermometer has a maximum measuring error of 0.5 °C within a measuring range of 0 - 50 °C. 325-2810-013US13 CoboSafe-Scan... -
Page 17: Selecting Suitable Pressure Measurement Films
Consumables The consumables described can be obtained from GTE Industrieelektronik GmbH. For this purpose, contact customer service (chapter 'Customer service'). Invalid measurement results due to damage to the mea- suring system. -
Page 18: Cleaning The Scanner
The film areas to be used must be free of damage and discoloration. 8.3.3 Checking and Cleaning the Collision Surface of the Robot Clean the collision surface of the robot (e.g., gripper) with a clean cloth. In particular, remove coarse particles (e.g., grains of sand or metal chips). 325-2810-013US13 CoboSafe-Scan... -
Page 19: Cutting The Pressure Measurement Film To Size
After the measuring film has been cut to size, it is placed on the CBSF force gauge. Example with CBSF-Basic: Personnel Personal Protective Equipment ■ Protective clothing ■ laboratory scientist ■ Protective gloves ■ System integrator ■ Safety shoes CoboSafe-Scan 325-2810-013US13... -
Page 20: Performing Measurement
[Fig. 10/4]. Do not exert any pressure on the measuring surface. Fig. 10: Combining measuring unit Performing Measurement Personnel Personal Protective Equipment ■ Protective clothing ■ laboratory scientist ■ Protective gloves ■ System integrator ■ Safety shoes 325-2810-013US13 CoboSafe-Scan... - Page 21 Carefully loosen the fixing adhesive tape. 7 ► Carefully peel off film A (yellowish or bluish). Film A can be disposed of. 8 ► Carefully remove film C (whitish). Film C must be scanned to quantify the measu- rement data. CoboSafe-Scan 325-2810-013US13...
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Page 22: 10 Transferring Measurement Data
FIg. 11: Film labeling 10 Transferring Measurement Data After completing the pressure measurement, the pressure images must be scanned and transfer- red to CoboSafe-Vision. During transmission, the ambient conditions and other parameters can be documented. The evaluation is conducted via CoboSafe-Vision. 325-2810-013US13 CoboSafe-Scan... -
Page 23: 10.1 Temperature And Humidity
Pressure measurement Measuring surface of the Clean measuring surface exceeds limit values at cer- CBSF force sensor dirty tain points Collision surface of the robot Cleaning the collision surfa- dirty ce of the robot CoboSafe-Scan 325-2810-013US13... - Page 24 Fujifilm Prescale film must not be used under light radiation and especially not under solar radiation. Store in the dark. 12.1 Requirements for Temperature and Humidity Measurement Temperature measurement: Technical information Value Unit Measurement inaccuracy ±0,5 °C Humidity measurement: Technical information Value Unit Measurement inaccuracy ±3 % rF 325-2810-013US13 CoboSafe-Scan...
- Page 25 Mo - Thu from 8:00 until 16:00 (08 AM – 04 PM) Fridays from 8:00 until 14:30 (08 AM – 02:30 PM) +49 2162 3703-0 E-mail cobosafe@gte.de Postal address GTE Industrieelektronik GmbH Customer Service Helmholtzstraße 21, 38-40 41747 Viersen, Germany Further information www.cobosafe.com...
- Page 26 NOTES 325-2810-013US13 CoboSafe-Scan...
- Page 27 NOTES CoboSafe-Scan 325-2810-013US13...
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