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- Page 1 CoboSafe-Tek Force and Pressure Measurement System 325-2810-014US13 Operating Manual Pressure Measurement Set CoboSafe-Tek 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-Tek 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 Transferring Measurement Data........21 10.1 Temperature and Humidity ....... . 21 325-2810-014US13 CoboSafe-Tek... - Page 5 14 Disposal..........25 14.1 Disposal by the manufacturer ......25 CoboSafe-Tek 325-2810-014US13...
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Page 6: About This Manual
ABOUT THIS MAnUAl About this Manual This operating manual describes the pressure measurement procedure CoboSafe-Tek and its handling. The measuring method is part of a system and may be used only in conjunction with the following components: ■ CoboSafe-Vision ■... -
Page 7: Explanation Of Symbols
Precedes instructions Step-by-step instructions. The instructions are numbered in the order of 1 ► the respective steps. Results of steps References to sections of this manual and to other applicable documents lists with no specific order CoboSafe-Tek 325-2810-014US13... -
Page 8: Appearance Of Instructions
In the above example, the person performing the task has to be a laboratory scientist or a system integrator. For a description of the personnel qualifications, refer to chapter “Qualification Required of Personnel” in the document "CoboSafe – General Safety Instructions”. 325-2810-014US13 CoboSafe-Tek... -
Page 9: For Your Safety
Intended Use CoboSafe-Tek 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 on the basis of the underlying standards and publications (Read the related document 'CoboSafe –... -
Page 10: Brief Description
USB stick with equilibration files and user manual ■ CAT5 network cable and RJ45 connector ■ Versa Tek Sensor Handle ■ USB transfer cable ■ Versa Tek 8-Port Hub ■ Film sensors with different resolutions, Type 5051 or 5027 325-2810-014US13 CoboSafe-Tek... -
Page 11: Hardware Components
In the 'open' position it retracts the contact pins and thus enables the insertion of the pres- sure measuring film. When the lug is closed, the contact pins are pressed against the contact points of the sensor. Fig. 3: Overview handle CoboSafe-Tek 325-2810-014US13... -
Page 12: Overview Versatek 8-Port Hub
HARDWARE COMPOnEnTS Overview VersaTek 8-Port Hub The VersaTek Hub is used to convert the VersaTek Handle communication protocol to USB. Fig. 4: Overview hub Installing and connecting the components Fig. 5: Connecting the components 325-2810-014US13 CoboSafe-Tek... -
Page 13: Updates And Upgrades
When the PC software CoboSafe-Vision is started, the version status is automatically queried online. The information window also informs about changes to the CoboSafe-Tek system. After updating the current status, the current instructions for use are also available. The opera- ting instructions must be available in printed form (Read the related document ' General Safety Instructions'). -
Page 14: Functionality Of The Pressure Measuring Film
For strong visible kinks, the pressure measuring film should be re-equilibrated. Ho- wever, equilibration should take place once a year. Replace heavily damaged pressure measuring films. The correct specification of the types used is required for the evaluation. An incor- rect type specification will generate incorrect measured values. 325-2810-014US13 CoboSafe-Tek... -
Page 15: Durability
Typically, the unloaded region of the pressure sensor retains its original sensitivity. The region that receives constant load changes, on the other hand, will change its sensitivity. This circumstance can be compensated with the aid of equilibration. CoboSafe-Tek 325-2810-014US13... -
Page 16: Calibration
This allows the pressure distribution and the application of force to be determined for the same point in time. The compression force is then calculated using the recorded force of the calibrated force sensor. Datasheets Sensor Fig. 7: Sensor 5051 325-2810-014US13 CoboSafe-Tek... -
Page 17: Preparing The Measurement
Preparing the Measurement The definition of possible collisions and the choice of force and pressure sensor must be taken into account when preparing the measurement environment. The collision positions determine the body localizations and, if necessary, the specific localizations. CoboSafe-Tek 325-2810-014US13... -
Page 18: Selecting Suitable Pressure Measuring Film
Check whether a current equilibration file exists (CoboSafe-Vision). 8.2.2 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). 325-2810-014US13 CoboSafe-Tek... -
Page 19: Inserting The Pressure Sensor
Fig. 9: Inserting pressure sensor in handle 5 ► Close the lever. 6 ► Control lamp 'Sensor ok' on the handle must light green. Fig. 10: Closing lug you have correctly inserted the pressure measurement foil into the handle. CoboSafe-Tek 325-2810-014US13... -
Page 20: Positioning Pressure Sensor
Carefully fix the applied film to the edges of the measuring surface, e.g., with ad- hesive tape. 4 ► If intended: Carefully cover the measuring unit with a microfibre cloth. Fig. 11: Positioning the pressure sensor The measuring unit is ready combined. 325-2810-014US13 CoboSafe-Tek... -
Page 21: Perform Measurement
CoboSafe-Vision. The evaluation takes place via CoboSafe-Vision. 10.1 Temperature and Humidity CoboSafe- CBSF devices have an integrated measurement and automatically transmit data for ambient temperature and humidity. CBSF-Basic instruments require measurement by an external thermo-hygrometer. CoboSafe-Tek 325-2810-014US13... -
Page 22: Detectingand Remedying Malfunctions
CBSF force sensor dirty exceeds limit values Collision surface of Cleaning the collision at certain points the robot dirty surface of the robot Measuring surfa- Collisions with sharp-edged Equilibrate pressure sensor ce has bends surfaces or replace pressure sensor 325-2810-014US13 CoboSafe-Tek... -
Page 23: Technical Data
Pressure sensors should be stored in a protected container. The size should be dimensioned so that no creases or wrinkles can occur. 12.1.2 Storage conditions for components After use, the system components should be stored in the supplied transport case. CoboSafe-Tek 325-2810-014US13... -
Page 24: Requirements For Temperature And Humidity Measurement
TECHnICAl DATA 12.2 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 325-2810-014US13 CoboSafe-Tek... -
Page 25: 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 Helmholtzstraße 21 41747 Viersen, Germany Further information www.cobosafe.com... - Page 26 Notes 325-2810-014US13 CoboSafe-Tek...
- Page 27 Notes CoboSafe-Tek 325-2810-014US13...
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