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Standard RO1 User Manual

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Summary of Contents for Standard RO1

  • Page 1 RO1 Collaborati e Robot User Manual...
  • Page 2 RO1 User Manual Standard Bots Revised January 5, 2024 © 2023 Standard Bots Company. All rights reserved.

  • Page 3: Table Of Contents

    1.2 Contacting Standard Bots ........
  • Page 4 3.8 Control Box Inputs and Outputs ........26 3.8.1 Digital Inputs and Outputs .

  • Page 5: Introduction

    At Standard Bots, we believe robots can elevate people’s lives — but only if people can use them. We created the RO1 to be an affordable robot that anyone can use, yet is still capable of tackling the tough- est, most complex challenges.

  • Page 6: Warnings & Risks

    The RO1 robot is not designed to work in applications outside the bounds of this manual and any imple- mentation violating the indented use shall be deemed misuse. These applications include but are not limited to: • Medical applications • Applications in an explosive environment •...

  • Page 7: Operator Safety

    1.4.4 Cybersecurity The Standard Bots RO1 is able to connect to both wired and wireless internet in order to facilitate remote access, troubleshooting and software updates. It is imperative to follow best cybersecurity practices, as you would with any industrial device capable of being accessed online.

  • Page 8: Hardware Overview

    2.1 Arm 2.1.1 Overview The RO1’s arm contains 6 joints connected by a CAN bus. Each joint has two encoders, two different methods to sense torque, and fail-safe brakes that provide emergency braking torque when power is removed from the arm.

  • Page 9: Payload

    2.1.2 Payload The RO1 robot can support a maximum of 18kg (39lbs) of payload with a center of mass at 10 in (254mm) straight off the face of the tool flange as shown above. Total payload must include EOAT and any other...

  • Page 10: Reach

    2.1.3 Reach The RO1 robot can reach 1300 mm (51 in) in a radius from the center of the base (A). There is a radius from the center base of 190 mm (7.5 in) (B) where the robot cannot reach due to it’s structure. Tools...

  • Page 11: Led Colors

    2.1.4 LED Colors The robot end of arm has an LED status light for assisting in determining the robot status. The color codes are as follows: Robot State Color Idle or Paused Solid Green Bootup / Startup Color Cycle Full Speed (above collaborative threshold in Safety Settings) Yellow Ring Pattern Reduced Speed (below collaborative threshold in Safety Settings) Solid Yellow...

  • Page 12: Control Box

    Bluetooth and Wi-Fi. Bluetooth is used to pair the tablet. Lock & Key The RO1 includes a key that can be used to lock the control box door. Arm data + power This links the control box to the arm.

  • Page 13: Front Panel

    2.2.1 Front Panel Inside the front panel are many ports that can be used to connect the robot to other equipment in the cell: Section Port Labels Description I/O - 1 and 2 DI, 24V, GND This section includes 16 24V I/O ports which can be used to control other equipment in the cell.

  • Page 14: Specs

    2.3 Specs Performance Power consumption Depends on program and payload Collaboration operation Speed & force limiting per ISO/TS 15066, collision detection, and other safety features Ambient temperature range 0-55°C Humidity 90%RH (non-condensing) Specification Payload capacity 18kg (39 lbs) Reach 1.3m (51.2 in) Max joint speed 435°...
  • Page 15 Control Box Ambient temperature range 0-55°C I/O ports Digital In: 16 (24V Tolerant), Digital Out: 16 (24V 0.7A Out continuous), Analog In: 4 (24V Tolerant), Analog Out: 2 (Current: 0-20mA; Voltage: 0-10V) I/O power supply 24V, 3A max continuous Communication 24V I/O, RS-485 (UART / Modbus), USB 2.0, USB 3.0, TCP/IP, Ethernet/IP Power source...

  • Page 16: Hazardous Energy

    Several types of stored energy can exist in a system utilizing a Standard Bots robot: Electrical: The Standard Bots control box utilizes 120 VAC power as a primary means of power. The control box utilizes electrical devices such as capacitors which store electrical energy even after the control box has been unplugged from the power source.

  • Page 17: Performing A Lockout

    2.4.3 Performing a Lockout Should a lockout of the Standard Bots RO1 be required, unplug the AC input cord and use a plug lockout with appropriate lock. Follow all standard lockout tag-out procedures.

  • Page 18: Anti-Gravity Mode

    2.5 Anti-Gravity Mode The RO1 has functionality allowing the user to move the robot to a desired position by manually moving the physical robot instead of jogging the robot with the pendant. When Anti-Gravity mode is engaged, the robot will compensate for its own weight and set payload to maintain its position without the brakes applied.

  • Page 19: Movement Without Drive Power

    2.6 Movement Without Drive Power Do not attempt to move the RO1 robot without drive power unless instructed by Standard Bots person- nel, otherwise damage could occur. The RO1 is a collaborative robot, and is designed to work in environments alongside humans. As such, under normal circumstances moving the robot without drive power is not required.

  • Page 20: Assembly & Setup

    3.2 Lifting the RO1 Proper lifting techniques should be observed when lifting the RO1 robot or controller. Improper lifting can cause strains, sprains, and other serious injuries to the back, neck, shoulders, and other parts of the body.

  • Page 21: Setting Up The Caster Base

    3.4 Connecting Control Box, Mounting and Unmounting Arm 3.4.1 Orientation The RO1 only attaches to the base in one orientation. The orientation is shown by the X and Y markings on the baseplate, which line up with the tooltip orientation in the Move Robot view as shown:...
  • Page 22 It is possible to rotate the robot in 90 degree increments by rotating the base plate.

  • Page 23: Video

    6. Rotate it clockwise until the “O” on the robot base lines up with the matching “O” indicator shown above. 7. Secure the RO1 base joint using five M8 30mm screws. 8. Connect the RO1 USB-C cable to the base joint. Connect the RO1 power and data cables to the base joint.

  • Page 24: Mounting Base Diagram

    9. Use cable ties to restrain the cables to the pillar. 10. At the bottom of the control box, connect the RO1 power and data cables to the control box, as well as the USB cable. Connect the IEC (power) cable and lock it with the clip.

  • Page 25: Setting Up Tablet

    • Do not force the robot into a position while power is off, doing so may damage the robot. • Only lift the RO1 arm with 2 people. • The RO1 robot has a locking feature in the base of the robot. Do not attempt to force the robot straight off of the mounting structure.

  • Page 26: Unmounting The Arm From Base

    The RO1 control box has an integrated handle for ease of transportation. Ensure all cables are discon- nected from the RO1 control box before moving or shipping the control box. Ensure RO1 control box is well packaged, preferable in the original packaging, before shipping the RO1 control box.

  • Page 27: Connecting End Effectors

    The RO1 offers four locations for the locating pin, where the ISO 9409-1-50-4-M6 standard offers 1 pin location. Any tool that follows the standard 50mm pattern will mount to the RO1 robot flange. A diagram of the mounting pattern is shown below.

  • Page 28: Other Supported Tools

    Example of wiring a proximity sensor into the RO1 control box: Example of wiring a pneumatic valve into the RO1 control box: 3.8.2 Analog Inputs and Outputs The RO1 control box has 4 analog outputs and 2 analog inputs available on the control box. These are currently unsupported.

  • Page 29: Safety

    The final performance level of the system will depend on the integration and must be calculated by the integrator. The RO1 has parameters for the below settings that can be fully customized for the end application and allow for integration with a wide variety of industrial safety components.

  • Page 30: Performance Level

    Safety Output Event Worst Case Response Time Robot E-Stop 50ms 4.1.1 Performance Level The RO1 safety circuitry, including E-Stop circuitry and all digital inputs and outputs is PLe Cat 4.

  • Page 31: Safety Settings

    4.2.1 Speed Limits How Limits Work The RO1 has several levels of limits; the robot is always gated to the lowest of all of these: • Global Limits: defined in Safety settings, which affect tooltip speed and the acceleration, velocity, and torque of joints.

  • Page 32: Speed Modifier % Slider

    The following can be customized, both for when the robot operates at its full speed and in a “slow” mode that can be triggered via Safety I/O settings: • Tooltip Speed: This limits the speed of the tooltip in Cartesian space. •...

  • Page 33: Customizing Speed Limits For A Step

    4.2.3 Customizing Speed Limits For A Step When editing a “Move” step, the “Motion Speed” setting allows you to affect the speed for only that step. This is useful for delicate movements or when required for safety. By tapping “Edit”, several options are available. The motion can be restricted to percentage of the maximum (as with the global speed modifier in the robot menu), or to a new set of custom limits.

  • Page 35: Safety I/O

    4.3 Safety I/O The “I/O” tab shows settings for Safety I/O, which allows you to configure safety devices like extra E- stop buttons, area scanners, light curtains, and more. At present, only inputs are supported here; support for safety outputs for controlling other devices will be added in a future software update.
  • Page 36 – Slow Speed when low: Makes the robot observe the “Slow Speed” set of limits defined in the “Limits” tab. This is useful, for instance, with an area scanner, to force the robot to move at a collaborative speed when people are nearby. –...

  • Page 37: Collisions & Protective Stops

    4.5 Setting the Robot’s Payload Mass The robot’s knowledge of its payload mass affects its ability to balance and sense collisions. It’s impor- tant for overall safety to configure the payload as part of setting up a robot cell with the RO1.
  • Page 38 There are two ways to set the payload: 1. By adding a Set Payload step to a routine 2. By setting the payload parameter within an Actuate Gripper step. This is useful for situations where the payload changes as a result of the gripper. The payload mass entered should account not only for the mass of the payload itself but also that of any attached end effectors.

  • Page 39: Software Overview

    The included iPad can be connected to multiple RO1 robots (if needed) after pairing with them. The home screen of the Standard Bots app shows the list of paired robots and their connection status. Tapping on the “…” button for a robot allows you to: * delete that robot * re-configure it (i.e. to change its network settings, PIN, etc) * show a details screen that can allow you to troubleshoot connectivity issues.

  • Page 40: Top Bar

    5.1.1 Top Bar One connected to an RO1, the software has a set of global controls in the header of every page: There are several important features worth calling out: Element Name Description Tabs Switch between jogging robot and editing routines...
  • Page 41 Element Name Description Notifications Contains a log of failures, errors, and other notifications that have occurred when running the robot. If there are unread items here, there will be a red dot on this icon. Robot Statuses The robot menu displays the name of the robot and may show several status indicators: Status Description DISCONNECTED The tablet is not able to connect to the robot.

  • Page 42: Jogging The Robot

    5.2 Jogging the Robot The “Move Robot” tab brings you into the Move page. This shows a visualization of the RO1. The switch on the bottom allows you to switch between visualiz- ing (and controlling) the real robot or a simulated robot.

  • Page 43: Jogging Joints

    This can be switched between “Base” (where the reference frame is the robot base) and “Tooltip” (where the reference frame is on the robot’s tool flange). Moving to tooltip mode can be useful for maneuvering the tooltip in and out of tight spaces. For safety, manually jogging the robot is always capped at a speed below the maximum that will apply when running.
  • Page 44 The equipment configured on the robot can be seen in the list on the left. To add new equipment, press the “Add Equipment” button in the bottom left. Various settings for each connected device can be controlled on the left. Alt text Currently, only one gripper can be added at a time (except when using the onRobot Dual Quick Changer).

  • Page 45: Robot Settings

    A robot is unable to maintain a constant velocity while passing one. The RO1 handles this by never planning motion paths through singularities. If the robot is programmed in a manner in which it will encounter a singularity, the UI will display a “Motion Planning Failed” error and the robot will not attempt the movement.

  • Page 46: Routines

    5.6 Routines Standard Bots uses an intuitive “no-code” approach to programming the RO1 robot. The programs in the robots are referred to as “Routines”. The routine reads as a story. Routines can be developed and tested in simulation without moving the actual robot.
  • Page 47 To create a new routine, give it a name under Routine Name. Optionally, give the routine a description under Routine Description. Leave Blank Routine checked to start a new routine. 1.Return to the Space. 2.Return to Routine list.
  • Page 48 10.List of Step types that can be added to the routine. If you are using a Standard Bots-supported tool, first add it using the manage equipment button. If you are not using a supported tool, no need to add it. It will be controlled over I/O directly.
  • Page 50 You will be directed back to the Space to add the equipment. Click the +add to add the equipment. Select the equipment you have from the list. For our example, select OnRobot 3FG15. When adding a single tool on a single changer, you do not need to define a changer and instead simply add the tool. Select the back arrow to return to the Routine.
  • Page 51 The menu will show all available step types with descriptions. For the sample routine, we will start with a Move Arm Step. A Move Arm step is how you tell the robot to go to a position. Click the Move Arm step to add it to the Routine.
  • Page 52 1. Editable description for this Step. 2. Specify the position for the robot to go to based on the current position. 3. Specify the position for the robot to go to based on a saved position from the Space. 4. Specify the position for the robot to go to based a math function and/or variables. 5.
  • Page 53 For our example we are going to select From Space. Defining a point in the Space allows you to use it in multiple places in the routine. Defining a point in the Space also lets you more easily modify the point in the future.
  • Page 54 Select Single Position to create a new saved position.
  • Page 55 1. Give the position a name. 2. Select Create.
  • Page 56 1. Set will set the position named Initial Position to the current robot location. 2. Go Here will drive the robot to the saved position if held down. 3. Use the Tooltip jogging area to move the robot to the desired initial position. 4.
  • Page 57 1. Jog the robot to the desired position using the arrows. 2. If needed, use the menu to change the robot speed. 3. Once you are in the desired position, use the Space icon to return to the Space positions. 1.
  • Page 58 1. Select our new saved position Initial Position from the drop down. 2. Save the current step. 1. We now have our first step at the beginning of the routine. 2. Click + Add Step to add our next step.
  • Page 59 Often you will want to set your tool configuration at the beginning of the routine as you do not know how it will be left every time the robot stops. Select Actuate Gripper. Select the pen icon to edit the step.
  • Page 60 1. Set the PAYLOAD for this step. In our case 0 kg as we are opening. 2. Set the GRIP KIND. We will use an inward grasp (moving the fingers in to close on the outside of a part). 3. Set the FORCE to grip with. We will leave at 10 as we are opening. 4.
  • Page 61 1. Select + Add Step as we did for the last two steps to add another step. 2. Select Loop. 3. On the Loop step, select the pencil button to edit as we did for the last two steps. /pagebreak For Loop under Basic Options you can choose to:...
  • Page 62 •Loop Forever: Loop until the program is stopped by the user. •Loop x times: Loop the number of times specified before going to the next step. •Use Rules: Allows you to use math and variables to set the number of times the loop runs. For our case leave as Loop Forever •Under Main Loop you can choose: •Automatically assign Main Loop: Set the loop that is to count the number of times the routine runs as...
  • Page 63 Often you want to approach a position from an offset based on the end position, for example when picking a part. If you do not set an in between point to ensure you approach the part from the top, you may approach it from the side and knock into it with the tool.
  • Page 64 2. Select Save Changes. The newly added Add Offset will have a warning that it requires another step below it to offset. Any move below and indexed to the right of our Add Offset will be offset by the .1 meters we set in positive Z.
  • Page 65 pick position and create a new Single Position as a variable named Pick Position in the space. 1. Select another Move Arm command. 2. As we did in the first step, use the Space to move the robot to the pick position and create a new Single Position as a variable in the space.
  • Page 66 2. We want this step to be within our Loop, but not offset by our Add Offset so we must line it up with the Add Offset step. Click and drag the step with the so it lines up with the Add Offset. 3.
  • Page 67 As we did before the pick, configure another offset move to move above the Pick Position. This will ensure we do not drag the part before we move to the place. The routine should look like the image above. As we did for the pick, configure another set of steps to go to an offset above a new position, Place Position, go to the Place Position, Actuate the tool, and go to an offset above the Place Position.

  • Page 68: Running Routines

    5.6.2 Running Routines To test the routine, select Load Routine onto a Robot. 1. Select the robot to load the routine onto under Load onto Robot, there will likely only be one. 2. Click the Load onto Robot button.
  • Page 69 Select View on Routine Visualizer. Select the play button.
  • Page 70 Select Start Routine Visualizer. 1. The robot will start completing the routine in a virtual environment. 2. The step the robot is currently completing will show on the left side of the screen. 3. The value of all Variables is shown in the bottom right. 4.
  • Page 71 1. The I/O menu can be selected to show the IO values as the routine is running. 1.The Gripper menu can be selected to show the tool settings as the routine is running.
  • Page 72 If the routine looks correct, it is ready to run on the physical robot. Select the blue Next button. Select Run Pre-flight Checks.
  • Page 73 Ensure the tool is in an acceptable position based on the start of your program. In our case we start by opening, so ensure the gripper is empty if you don’t want to drop the product. Click the blue Test Run button. 1.Select the maximum speed you want the end of the arm to move for the initial run by setting Max Tooltip Speed.

  • Page 74: Advanced Routine Functionality

    1. Click and hold the Hold to Move Arm to Position button to move the robot to the first position in the routine. 2. Watch the robot to ensure there are not going to be collisions during this move. 3. The routine will run at the specified reduced speed once and stop. 4.
  • Page 75 To create a variable, locate the variables are in the routine editor. When creating a variable, be sure to set an initial value. If no value is set, the variable will be set to 0. The value in the initial value box will be used set for the variable every time the routine is started.

  • Page 76: Javascript

    Manually typing the variable will not include the correct prefix and will result in an error. 5.7.2 Javascript The Standard Bots routine editor provides the necessary instructions that address the requirements for the majority of applications. Should you need to to incorporate more advanced functions, the routine editor allows you to write your own JavaScript into Loops, Add Offsets, Move Arm steps, and more.

  • Page 77: Grid Position Lists

    In the above example, this loop will iterate until the loop has iterated more than the value set in an envi- ronmental variable, partsPerRow. After the loop has iterated more times than the value of partsPerRow, the routine will move to the next step after what is contained in this loop. In the above example, the code is checking if a variable boxCountOnPallet is less than or equal to 16 but more than 8.
  • Page 78 To create a grid, go to the Move Robot area, go to the space (square icon) and select Grid Position List. Give a name to the Grid Position List.
  • Page 79 To create the grid, first drive the robot to a corner of the grid using the Jog Robot functionality in the Move Robot view. Set the position. Repeat for 3 corners of the grid. Under Layout, select the number of rows and columns in the grid. This will be the layout of the parts within the grid.

  • Page 80: Freeform Position Lists

    After the grid is generated, you can go to the positions using “Go Here”, tune them by using “replace,” or exit. To use the grid, use a Move Arm command within a loop and select the grid within the “From Space” option.
  • Page 81 To create a grid, go to the Move Robot area, go to the space (square icon) and select Freeform Position List. Give the position list a name.
  • Page 82 You can now drive to your first position using the Jog Robot functionality in the Move Robot view. Set the position. Repeat for the number of positions needed. Create the next position in the list using the “+” icon. You can touch up the positions using “Go Here” and “Replace”. Once finished simply exit.

  • Page 83: Haas Ethernet Integration

    Bots provides a first-class integration suite that allows for ethernet communication between the Stan- dard Bots robot and Haas machine. This allows for quicker setup and more flexibility with less wiring. Standard Bots provides a set of sample .nc files to get started with an ethernet Haas integration. The...
  • Page 84 Haas machine (in the example this program is 6000.nc). It then uses Macros 10850 and 10851 to complete handshaking between the Haas machine and Standard Bots robot as shown below:...
  • Page 86 3. Run a single cable between the robot and Haas machine. The Haas machine must have a static IP address set manually. Contact Standard Bots Support for assistance setting a static IP address on the robot on the same subnet as the Haas machine.
  • Page 87 3. If using a wired connection, run an ethernet cable from the Ro1 cabinet to the Haas machine cabinet. The ethernet port on the Ro1 box is on the underside of the IO connection points in the box. The ethernet port on the Haas for Machine Data Collect is usually on the upper left when looking at the back of it.
  • Page 88 Ensure the port remains at the end of the address. The format is: http://xxx.xxx.xxx.xxx:port . I.e., http://192.168.215.175:5551. Save the step. 14. Start program 6000.nc on the Haas using the standard cycle start button on the Haas. 15. Start the sample program on the robot by running the routine.
  • Page 89 16. The spindle warmup program (or alternative program chosen above) should now run. If it does not work verify the 10850 macro variable is updating. If it is not, verify communication between robot and machine.

  • Page 90: Maintenance

    Chapter 6 Maintenance The RO1 robot and controller are designed for long life with minimal maintenance. If the robot is installed according to the intended use instructions the robot and controller will provide years of service. 6.1 User-Serviceable Parts Part...
  • Page 91 6. Measure from corner of fan shroud and mark tape at 1.5” and 4.5”: 7. Insert a flat head screwdriver just past the lip of the shroud and pry one side out. You will hear a snap noise:...
  • Page 92 8. Repeat for the other side: 9. Pull shroud downward and remove shroud as shown:...
  • Page 93 10. Remove and replace filter: 11. Engage bottom of shroud with bottom of assembly:...
  • Page 94 12. Press in top of shroud with hand. 13. Remove tape.

  • Page 95: Limited Product Warranty

    Company or a service provider authorized by the Company. 6.4 Return Merchandise Authorization Should you believe you need to return a Standard Bots product please contact us through one of the below contact methods. Unauthorized returns will not be accepted.

  • Page 96: Appendix A - Error List

    Chapter 7 Appendix A - Error List Error Reason How to Fix Error E-Stop was triggered The E-Stop was pressed The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel. Internal communication failure The robot requires recovery.
  • Page 97 Error Reason How to Fix Error Arm has encountered a collision The arm collided with an object The robot requires recovery. and stopped. The joint will be Navigate to the Routine Editor identified in the error, along and press the Play button to with the detected Nm force and access the Recovery Panel.
  • Page 98 Error Reason How to Fix Error Torque Limit Exceeded Too much torque was recorded Reduce payload, speed or on the joint named in the error reach. message...
  • Page 99 Standard Bots Company 80 Pratt Oval Glen Cove, NY 11542 USA www.standardbots.com 1-888-9- OBOTS...

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