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OnRobot Eyes User Manual

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USER MANUAL
FOR UR ROBOTS
v1.11.0
Original Instructions

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Summary of Contents for OnRobot Eyes

  • Page 1 USER MANUAL FOR UR ROBOTS v1.11.0 Original Instructions...

  • Page 2: Table Of Contents

    3.2.2.1. VGC10.........................15 3.3. External Mount..........................15 3.4. Eyes Lighting Kit Mount.........................15 3.4.1. Eyes Lighting Kit – Camera Mount..................16 3.4.2. Eyes Lighting Kit – External Mount................16 3.4.3. Optional – Diffuser Mount....................16 3.5. Wiring..............................17 3.5.1. USB Cable..........................17 3.5.2. Optional – Light Cable...................... 18 3.5.3.
  • Page 3 5.1.2.3. Set Parameters on Inspection by Using Workpiece’s Inner Features..98 5.1.2.4. Set Inner Region of Interest when Using Inspection by Using Workpiece’s Inner Features....................99 5.1.3. Best Practices – Eyes Lighting Kit..................99 5.1.3.1. Light Reflections...................... 99 5.1.3.2. Use the Diffuser..................... 101 5.1.3.3.
  • Page 4 5.1.4.8. Path from OnWaypoints..................119 5.1.4.9. Path from Shape....................123 5.1.4.10. TCP.......................... 127 5.1.5. VG10/VGC10........................128 5.2. URCap Toolbar..........................132 5.2.1. Eyes............................134 5.2.2. HEX-E/H QC........................135 5.2.3. VG10 / VGC10........................137 5.3. URScript Commands........................138 5.3.1. Eyes............................138 5.3.2. VG10/VGC10........................140 5.4.
  • Page 5 9.7.1.2. Error 4096....................... 197 10. Warranties..........................198 10.1. Patents............................198 10.2. Product Warranty........................198 10.3. Disclaimer............................. 198 11. Certifications..........................199 11.1. EMC..............................200 11.2. Eyes - Environment........................201 11.3. Eyes Lighting Kit - Environment....................202 11.4. Declaration of Incorporation....................203 11.4.1. Eyes.............................203 11.4.2. HEX-E..........................204...
  • Page 6 11.4.3. HEX-H..........................205 11.4.4. VGC10..........................206...

  • Page 7: 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 their components: 1.2.1. Eyes Components...

  • Page 8: Software And Firmware

    HEX-E/H QC if the information is relevant for both variants. 1.4. Copyright The information contained herein is property of OnRobot A/S and shall not be reproduced in whole or in part without prior written approval of OnRobot A/S. The information herein is...
  • Page 9 INTRODUCTION subject to change without notice and should not be construed as a commitment by OnRobot A/S. This manual is periodically reviewed and revised. OnRobot A/S assumes no responsibility for any errors or omissions in this document. Copyright © 2015–2021 by OnRobot A/S.

  • Page 10: Safety

    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 11 OnRobot A/S, that the robot application will not cause injury or damage, even if robot application complies with all safety instructions. OnRobot A/S disclaims any and all liability if any of OnRobot tools tooling are damaged, changed or modified in any way. OnRobot A/S cannot be held...

  • Page 12: Risk Assessment

    The robot integrator must perform a risk assessment on the complete robot application. OnRobot tools are only components in a robot application and therefore they can be only safely operated if the integrator has considered the safety aspects of the whole application.

  • Page 13: Certification Statement

    SAFETY 2.5. Certification Statement This product is classified as Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally and IEC60825-1, Edition 2 (2007) in the US. This product complies with US FDA performance standards under 21 CFR 1040.10 for laser products except for deviations pursuant to Laser Notice No.

  • Page 14: Hw Installation

    Mount the components • NOTE: The Eyes can be mounted either using Robot Mount or External Mount. The Robot Mount allows the camera to be mounted on the robot's tool flange. The External Mount allows the camera to be mounted externally.

  • Page 15: Tools

    3.4. Eyes Lighting Kit Mount Optionally, use the Eyes Lighting Kit to achieve more accurate detection and inspection results with Eyes. You can mount the Eyes Light on the camera or you can use it externally with the provided mount.

  • Page 16: Eyes Lighting Kit Camera Mount

    HW INSTALLATION 3.4.1. Eyes Lighting Kit – Camera Mount Mount the Eyes Lighting Kit on the camera as follows: Eyes Lighting Kit Camera Mount 1. Eyes Light 2. Eyes Robot Mount 3. Eyes Light attachment brackets 4. M3x5mm (BN20039 A4-70) Use 0.5 Nm tightening torque.

  • Page 17: Wiring

    DANGER: Use only original OnRobot tool data cables. NOTE: The Eye Box extends the functionality of the existing OnRobot Compute Box. Products that can be used with the Compute Box are also supported by the Eye Box. Connect the following cables to wire the system: USB cable between the Eyes and the Eye Box •...

  • Page 18: Optional - Light Cable

    HW INSTALLATION Use the cable holder as illustrated on the left. CAUTION: Ensure the locking screws on the Eyes end connector are fastened. Use a maximum tightening torque of 0.2 Nm. CAUTION: Make sure to use the supplied cable holder to prevent any excessive strain on the USB connector caused by the rotation of the cable.

  • Page 19: Tool Data Cable

    3.5.3. Tool Data Cable NOTE: This step is only applicable when the Eyes is used with another OnRobot tool. The data cable enables the Eye Box to be used with other OnRobot products. 3.5.3.1. Cable to HEX-E/H QC...

  • Page 20: Cable To Vgc10

    HW INSTALLATION Use the marked M12-12pin connector on the HEX-E/H QC. 3.5.3.2. Cable to VGC10 First connect the data cable to the tool. Use the M8-8pin connector on the Quick Changer or on the Dual Quick Changer. Use the cable holder as illustrated on the left. CAUTION: Make sure to use the supplied cable holder to prevent any...

  • Page 21: Ethernet Cable To Robot

    Do not cut or extend these cables. CAUTION: Quick Changer and Dual Quick Changer can only be used to power OnRobot tools. 3.5.4. Ethernet Cable to Robot Connect one end of the supplied Ethernet (UTP) cable to the robot controller's Ethernet (LAN) port.

  • Page 22: Eye Box Dip Switch Settings

    Ethernet cables. NOTE: The Ethernet cable to computer is only necessary during configuration of the Eyes and during operation is not needed. 3.5.6. Eye Box DIP Switch Settings Set the DIP switches of the Eye Box as follows: Set the DIP switch 3 to ON and the DIP switch 4 to OFF position.

  • Page 23: Best Practices - Hex-E/H Qc

    (where the arrows are shown) and not the cable. CAUTION: Use only original OnRobot power supplies. The Eye Box requires minimum 120W. Finally, power up the power supply that will power the Eye Box and the connected Tool(s).

  • Page 24: Sw Installation

    5.6 is not recommended, the 3.12 is not recommended. instead please use the 5.7. 1. Insert the OnRobot USB drive in the USB 1. Insert the OnRobot USB drive in the USB slot on the right side of the Teach Pendant.

  • Page 25: Uninstall Software

    URCaps option. screen), then from the System section tap on the URCaps menu. 2. Select the OnRobot URCap file. 2. Select the OnRobot URCap file. 3. Tap on the - sign. 3. Tap on the - sign.

  • Page 26: Urcap Setup

    UR e-Series Select the Installation tab, then select Tap on the Installation tab in the top menu. OnRobot Setup. The following screen is Then tap on the URCaps. shown: 4.1.3.1. Device Info In the normal view of the panel, the available functions are shown below:...
  • Page 27 Device info to make sure that the right settings (e.g.: TCP) are used. No connection: If you want to use OnRobot URCap and there are no connected devices, select No connection from the dropdown menu and no error message will show up.
  • Page 28 RTDE registers, see UR's Real-Time Data Exchange (RTDE) Guide. You need this option if you use OnRobot devices with other vendors' devices and OnRobot registers might overlap other vendors' registers. OnRobot uses three different types of registers: Bool, Int and Float.
  • Page 29 If your registers overlap other vendors' registers, offset them by writing a certain value in the Offset fields. If the offset value is too high, the number of OnRobot registers can exceed the number of Total registers. In this case the values will turn red in the OnRobot row.

  • Page 30: Eyes

    SW INSTALLATION 4.1.3.2. Eyes Use the following configuration panels for the Eyes: Eyes settings Use this menu to configure the Eyes. Press to go to the Eyes Setup page. Mounting Settings Use this menu to select the camera mount. Press...

  • Page 31: Hex

    When calibrating an externally mounted Eyes with the robot. • When selecting External Mount in the Eyes’ Web Client settings, the screen prompts you to send the robot’s pose from the robot. At this time, press the button. 4.1.3.3. HEX...
  • Page 32 SW INSTALLATION Automatic gravity compensation: If enabled, the weight of the tool and the part will be compensated while the robot orientation is changed. Make sure that the weight and the Center of Gravity is set correctly. Gravity compensation is only available for the following operations: Force Control •...
  • Page 33 SW INSTALLATION Hand Guide Require holding Hand Guide button: If checked (recommended), press the Hand Guide enable button constantly during the hand guiding. If unchecked, you can start the hand guiding by pressing the enable button and can stop it by pressing the enable button again. Timeout: After the set timeout value, the hand guiding will be stopped automatically.
  • Page 34 It is recommended to perform the Auto-calibration process when instructed. If the Auto-calibration process is not possible, schedule your sensor to be sent back to the OnRobot factory for a re-calibration. If the Auto-calibration warning pop-up is disabled, the following statements must be taken into consideration: The sensor is not reliable in the overload range.

  • Page 35: Vgc10

    SW INSTALLATION 4.1.3.4. 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 36 SW 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). Pipe + Cup: Device with the extension pipe with a cup placed in the right side using the •...
  • Page 37 SW 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. Attachment TCP (x, y, z) [mm] Image Standard (0, 0, 100)
  • Page 38 SW INSTALLATION Attachment TCP (x, y, z) [mm] Image 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. 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.

  • Page 39: Eyes Software Settings

    Go to the Eyes Setup page. Under Mounting Settings, press Select the camera mount: • ROBOT - The Eyes is attached to the tool flange of the robot. • This is the default option. EXTERNAL - The Eyes is mounted externally.
  • Page 40 SW INSTALLATION Select ROBOT camera mount. • Press • Select the Rotation and the Tilt parameters from the drop-down lists, respectively. • Press • Rotation (°) The rotation parameter specifies the orientation of the camera around the robot’s tool flange. You can adjust the rotation of the robot mount by rotating the arm of the mount once it has been mounted to the robot’s tool flange.
  • Page 41 SW INSTALLATION NOTE: Make sure that the mount is in one of the supported positions. Do not use intermediate positions. Secure the structure with the provided supporting screw (labeled as “Screw for Camera lock” - M4x16mm). Tighten the screw with 1 Nm torque. CAUTION: Make sure that the supporting screws are not tightened when you change the angle of the robot mount.

  • Page 42: External Mount Settings

    SW INSTALLATION NOTE: Make sure that the mount is in one of the supported positions. Do not use intermediate positions. Once a position is decided, secure the mount using the tightening screw. Tighten the screw with 0.4 Nm torque. CAUTION: Make sure that the supporting screws are not tightened when you cahnge the angle of the robot mount.
  • Page 43 Under Camera feed, you can see the current camera image. Use the Calibrate External Camera button to calibrate the Eyes. With the calibration process, the Eyes gets the relative pose of itself with respect to the robot. Calibrate the Eyes as follows:...
  • Page 44 SW INSTALLATION Attach the calibration plate to the robot tool flange using the provided M6x12 screws. • Move the robot so the calibration plate sits on the workspace within the camera view • and the inner corners of the pattern are marked in green. Press the Calibrate External Camera button.

  • Page 45: Operation

    It does not require configuration and can be used directly in the robot program. Configure the Part Location and Inspection applications as follows: Part Location - To setup the camera view, define what type of workpieces the Eyes will •...
  • Page 46 OPERATION II. Create a New Eyes Task Under Task, press New Task to create a new Eyes task. II/1. Method Enter a name for the task to the Task name field and then select a location method. •...
  • Page 47 OPERATION You can select one of the following location methods: Location by workpiece's outline • This detection method uses the selected workpiece's outline to locate and sort the objects in the scene. Color can be used as a sorting variable in case of objects with identical outer shape.
  • Page 48 • II/2. Camera View The camera view is an area which the Eyes will look at to detect workpieces. The area should be a flat surface and its background's color should be distinctly different to color of the workpieces to be detected. Eyes is robust to light changes, but it is advisable to limit lighting changes, changing shadows or strong reflections in the camera's view.
  • Page 49 Set the White balance parameter so the colors look similar in the image as in reality. • If you use the Eyes Lighting Kit, the intensity of the two lights can be adjusted independently to improve the illumination conditions in the application. Use Light 1 and Light 2 parameters to adjust the intensity of the lights.
  • Page 50 OPERATION Press • Remove the calibration plate and ensure that the camera view is clear of any objects. • Avoid shadows that do not belong in the scene. Press • The image shows the newly created camera view. The task will automatically use this •...
  • Page 51 OPERATION NOTE: In most applications, handling workpieces lying on the same side is enough. If the application should detect an object on different sides, create several workpiece representations for the object, one for each unique side. For example, a cuboid can have six different models, but only three unique ones. A cylinder can only have two unique models.
  • Page 52 OPERATION When the camera recognizes the object, a green bounding box will appear on the image. Red boxes can appear due to extra objects present on the image. In this case, remove the extra objects until the camera sees only one object. If more than one object is still detected, adjust the region of interest, which is marked by a yellow rectangle in the image.
  • Page 53 OPERATION Types of Symmetry Good Examples Bad Examples No symmetry Circular symmetry Rectangular symmetry Triangular symmetry Square symmetry Pentagonal symmetry Hexagonal symmetry NOTE: The rotational symmetry defines the amount of unique picking orientations of an object. It is different from other types of symmetry. Items having lines of symmetry do not necessarily have any kind of rotational symmetry.
  • Page 54 OPERATION If the selected method is by workpiece's outline, go to Task Using Detection by the Workpiece's Outline. II/4. Task The task can be set up to detect one or several types of workpieces. II/4.1 Task Using Detection by Color and Size You can see the detected workpieces with their respective picking coordinate frame in the •...
  • Page 55 OPERATION The Hue, Saturation, and Lightness parameters defines which objects are going to be detected in the Eyes task: minH and maxH: Represents which range of colors are going to be considered part of • the foreground. Use the Take outer hue range option if you want to select the outer range of colors.
  • Page 56 OPERATION Blob Area: Selects a size range of the objects detected in squared millimeters. • Detection Height: This parameter ensures that only objects inside of a given height • range from the camera view plane will be detected as possible workpieces. Use the parameter when detecting tall workpieces, so that only the top part is used to compute the position of the workpiece.
  • Page 57 OPERATION Pick priority: This option defines in which order the workpieces will be picked, based • on their position in the image. The first workpiece is marked with white in the image. Use fixed orientation: If enabled, the orientation of the detected items will be fixed to •...
  • Page 58 • be accepted as a valid detection. If it is set to the maximum, only exactly matching objects will be detected by the Eyes. If it is set to the minimum, false positive results can occur. Minimum feature strength: Defines the extent to which the Eyes considers the object •...
  • Page 59 OPERATION Good Excessive Insufficient Maximum number of items: This parameter specifies the maximum number of objects • expected in a single detection. Lower values reduce the processing time. Color is important (Useful for workpieces with similar shapes): Select it if the task is •...
  • Page 60 OPERATION NOTE: The offsets are applied in the non-rotated frame of the detected workpiece. For this reason, it is more intuitive to adjust the picking offsets first, and the picking orientation afterwards. You can adjust the region of interest, which is marked by a yellow rectangle in the image. To change the region of interest, adjust the corners by clicking and dragging each of the points to its new position.
  • Page 61 OPERATION • Optionally, you can adjust the detection by using advanced parameters. Press to go to the advanced settings. Adjust the detection by using the Detection height min, Detection height max, • Background sensitivity, and Color is important parameters. Background sensitivity: This parameter makes the task detect the workpieces that are •...
  • Page 62 OPERATION Color is important: Select this check box if the task is meant to distinguish between • workpieces that have the same outer shape but different colors (the detection method does not change, only the sorting criteria). Press • Adjust the detection by setting the Use fixed pick height, Pick priority, and Gripper •...
  • Page 63 Each workpiece is stored with the camera view that was used to define it. Sorting can only be done between workpieces with the same camera view. Press and go to the first page of Task Using Detection by the Workpiece's Outline. • II/5. Finish Configuration • Eyes Part Location configuration is finished.
  • Page 64 Press Yes to save and exit the Task configuration. • Configure Eyes in the Robot Program command is used to run an Eyes task to detect workpieces. This command Eyes Locate is normally used together with the command, using the latter as a child Eyes Get Workpiece command.
  • Page 65 OPERATION Select Eyes task The user can select an Eyes task from the drop-down selection. When there is no task selected the drop-down menu will be bordered in red and the command will be Eyes Locate incomplete, as shown below.
  • Page 66 Try once: The Eyes Locate command will try only one time. • Try for (s): The user can input how long in seconds the Eyes Locate command will try to • locate workpieces. Try forever: The Eyes Locate command will never stop trying to locate workpieces.
  • Page 67 This can be used to validate that the picking offsets are correct for the application. In the second dropdown menu, the TCP for this move can be selected. Use OnRobot_Single, when working with 1 OnRobot gripper, use OnRobot_Dual_1 or OnRobot_Dual_2 when working with Dual Quick Changer.

  • Page 68: Eyes Inspect

    Each workpiece is stored with the camera view used to define it. I. Select an Existing Eyes Task Under Task, select an already existing Eyes task from the drop-down list. If you want to edit the Eyes task, press . To delete an Eyes task, press II.
  • Page 69 OPERATION II/1. Method Enter a name for the task to the Task name field. • You can select one of the following inspection methods: Inspection by workpiece's outline • This method can inspect the workpiece's outer contour and overall color. Inspection by workpiece's inner features •...
  • Page 70 • II/2. Camera View The Camera View is an area which the Eyes will look at to detect workpieces. The area should be a flat surface and its background's color should be distinctly different to color of the workpieces to be detected. Eyes is robust to light changes, but it is advisable to limit lighting changes, changing shadows or strong reflections in the camera's view.
  • Page 71 The current camera image will be shown on the page. • The inner corners of the pattern should be marked in green if the pattern is correctly detected. The working area of the Eyes is not limited to the area covered by the calibration plate.
  • Page 72 Set the White balance parameter so the colors look similar in the image as in reality. • If you use the Eyes Lighting Kit, the intensity of the two lights can be adjusted independently to improve the illumination conditions in the application. Use Light 1 and Light 2 parameters to adjust the intensity of the lights.
  • Page 73 OPERATION • Press II/3. Workpiece A workpiece is a representation of one side of an object. NOTE: In most applications, handling workpieces lying on the same side is enough. If the application should detect an object on different sides, create several workpiece representations for the object, one for each unique side.
  • Page 74 OPERATION Enter a name for the workpiece to the Workpiece Name field. • Place the object inside the region of interest. The current camera image is shown on the page. When the camera recognizes the object, a green bounding box will appear on the image. Red boxes can appear due to extra objects present on the image.
  • Page 75 OPERATION Select the rotational symmetry of the workpiece from the drop-down list. The rotational symmetry specifies the number of distinct orientations in which the workpiece's outline looks the same. For example, select Rectangular Symmetry when working with a rectangle or an ellipse and select Squared Symmetry when working with a square or four-vertex star.
  • Page 76 OPERATION Background sensitivity: This parameter makes the task detect the workpieces that are • more similar in color to the background. Use the parameter with care as the greater its value is, the less robust the detection is to lighting changes and shadows. The effect can be seen in the textured zone in the image feed, which indicates the foreground.
  • Page 77 OPERATION You can adjust the region of interest, which is marked by a yellow rectangle in the image. To change the region of interest, adjust the corners by clicking and dragging each of the points to its new position. The green region moves first, then the yellow follows, indicating that you successfully changed the region of interest.
  • Page 78 OPERATION Detection height range: This parameter ensures that only objects inside of a given • height range from the camera view plane will be detected as possible workpieces. Use the parameter when detecting tall workpieces, so that only the top part is used to compute the position of the workpiece.
  • Page 79 OPERATION Press • Adjust the inspection by setting the Pick priority, Gripper clearance, and Use fixed pick • height parameters. Gripper clearance (mm): Sets the distance in [mm] of the required free space around • an object to be detected. This parameter guarantees that the gripper will be able to grip the object.
  • Page 80 OPERATION NOTE: The offsets are applied in the original frame of the detected workpieces. For this reason, it is more intuitive to adjust the picking offsets first, and the picking orientation afterwards. Press and go to the first page of Task Using Detection by the Workpiece's Inner •...
  • Page 81 OPERATION Defect tolerance: Defines the allowed size of outer shape defects on workpieces. It is • used to decide whether each contour point of the inspected workpiece is within tolerance. It will be so if its distance to the contour of the taught workpiece is lower than the Defect Tolerance.
  • Page 82 OPERATION Color is important (Useful for workpieces with similar shapes): Select it if the task is • meant to inspect the color of workpieces. If selected Color threshold is used to decide whether a workpiece passes or fails the inspection task. Press •...
  • Page 83 OPERATION Gripper clearance (mm): Distance in millimeters of free space required around an • object for it to be detected. This parameter is useful to guarantee that the gripper will be able to grip the object. Pick priority (Workpiece marked in white will be picked first): This option defines in •...
  • Page 84 Eyes task. The different functions are explained below. Select Eyes task The user can select an Eyes task from the drop-down selection. When there is no task selected the drop-down menu will be bordered in red and the...
  • Page 85 Camera feed from the camera will be shown. Camera feed Here the live video feed of the Eyes will be shown. Detected workpieces from the selected task will be shown in the live feed. These workpieces will have 2 numbers. #1 indicates the workpiece number in the Eyes program and the 99% indicates the Match percentage.
  • Page 86 OPERATION Settings A new page with the Inspect Settings will be shown by pressing on Retry settings The user can select how long the Eyes Inspect command will try to locate workpieces. The options are:...
  • Page 87 OPERATION Try once: The Eyes Inspect command will try only one time. • Try for (s): The user can input how long in seconds the Eyes Inspect command will try to • locate workpieces. Try forever: The Eyes Inspect command will never stop trying to locate workpieces.

  • Page 88: Eyes Get Workpiece

    This can be used to validate that the picking offsets are correct for the application. In the second dropdown menu, the TCP for this move can be selected. Use OnRobot_Single, when working with 1 OnRobot gripper, use OnRobot_Dual_1 or OnRobot_Dual_2 when working with Dual Quick Changer.
  • Page 89 NOTE: The detected workpiece's pose is given to the robot using the robot's Base frame as reference. : this variable assigns the detected workpiece’s type as defined in the Eyes EyesWorkpiece Location Task. NOTE: Changing the variable names or expression in the variable assignment nodes will result in unwanted behavior from the Robot Program.
  • Page 90 : this variable assigns true if the match % is higher than the one defined in EyesInspectEval the Eyes Inspection Task. If the match % is lower, then it assigns false. NOTE: Changing the variable names or expression in the variable assignment nodes will result in unwanted behavior from the Robot Program.
  • Page 91 If the color is not taken into consideration in the task, this match will only be the shape match. : this variable assigns true if the match % is higher than the one defined in EyesInspectEval the Eyes Inspection Task. If the match % is lower, then it assigns false.

  • Page 92: Eyes Pick

    Eyes Inspect Eyes Get Workpiece enables a user to quickly setup a generic motion to pick a detected workpiece. The Eyes Pick motion will perform a MoveJ until an approach offset pose set by the user, a MoveL to the workpiece's gripping position and finally a MoveL back to the offset pose.
  • Page 93 Eyes Pick Inserted Move commands: The inserted move commands will use the OnRobot TCP to make the motion. If the Dual QC is used, the selected gripper option will define which TCP is chosen for the commands. The above is an example of the default Move that is set by the .

  • Page 94: Eyes Landmark

    5.1.1.6. Eyes Landmark command is used to locate the OnRobot landmark and, using a feature Eyes Landmark point as reference in the moves, will reorient the robot position based on the position of the landmark.
  • Page 95 OPERATION 2. Go to the Program tab and add an command. The different functions are Eyes Landmark explained below. Select feature point Select the desired feature point. Save landmark Place the landmark so that the camera can see it at 300 mm distance.
  • Page 96 OPERATION NOTE: command can be place in the BeforeStart sequence if it is Eyes Landmark only required to run once on each program. 3. Outside the command, place a Move command. Eyes Landmark Select a move type that allows you to set a Feature point (eSeries any move will allow •...

  • Page 97: Best Practices - Eyes

    : Original Landmark pose with respect to robot base frame. EyesLndmrkOrig 5.1.2. Best Practices – Eyes This section describes general and specific advices how to improve the performance of Eyes during configuration. 5.1.2.1. Check Detection on the Full Workspace Good practice: Check that the part location and the inspection tasks give the expected results before you finish the configuration.

  • Page 98: Set Parameters On Inspection By Using Workpiece's Inner Features

    OPERATION If such an application is required, it can still be solved with Eyes as follows: 1. Create two different Eyes tasks: • Associate the first task with the workpiece with more features (Workpiece 1 in the Example). Associate the second task with the workpiece with less features (Workpiece 2 in the •...

  • Page 99: Set Inner Region Of Interest When Using Inspection By Using Workpiece's Inner Features

    Set the inner region of interest as follows: With this setting Eyes avoids detecting extra defects due to the workpiece orientation not • being perfectly matched to the taught workpiece.
  • Page 100 OPERATION If this is a problem in your application, mitigate it in one of the following ways: Tilt the camera When you tilt the camera, the light will not be reflected directly into the camera, thus the spotlight in the image will be reduced. It is recommended to use a tilt of 5 degrees. Place some objects on a reflective background and see the effect of this technique on these objects.

  • Page 101: Use The Diffuser

    OPERATION The following limitation apply when you use externally mounted light: • It is easy to cast undesirable shadows on the background as the light is not on the same axis as the camera. The application will require a larger space as the light needs to be mounted externally. •...

  • Page 102: Hex-Insert Part

    OPERATION 5.1.4.2. HEX-Insert Part command can be used to insert a part into a hole. HEX-Insert Part The part needs to be pointing in the right direction and needs to be close to the hole entrance. You can choose between two hole entrance finding methods. Then the robot tries to insert the part with the predefined force limit.
  • Page 103 OPERATION 1. Set the hole entrance finding method Setup These settings are applicable for both absolute and relative movements. Push Force: The force target value, which defines how big force can be used during the insertion. It is also used during the hole entrance finding to limit the contact force. The force is measured along the Tool Z axis.
  • Page 104 OPERATION 2. Set the part insertion parameters Select the image to use either Absolute or Relative movement for the part insertion. By default, Absolute movement is selected. Set Start & End These settings are applicable for absolute movement. Set the start and the end positions of the operation.
  • Page 105 OPERATION Set Distances These settings are applicable for relative movement. The robot starts the insertion process (and the optional hole entrance finding) from its actual position. Min. Distance: The minimum distance of the insertion. The insertion is successful, if the Push Force is reached and this distance is reached.

  • Page 106: Hex-Force Control

    OPERATION 5.1.4.3. HEX-Force Control Applications such as deburring, sanding or grinding may require holding constant force/ torque to a defined direction during movements. command alters the trajectory of its child nodes in order to keep the HEX-Force Control force and torque values constant along the selected axis. The command HEX-Force Control does not control forces in the direction that the tool is moving using the...
  • Page 107 OPERATION Force Control Keep Force: sets the percentage of the force value for the tool to keep during operation. Press the button to test the set value. At a higher percentage value the tool can follow the object more precisely. Setting the slider to 0 (OFF position) deactivates the force control.
  • Page 108 OPERATION Setup the Keep Force and Keep Torque Parameters To obtain the best result the robot path must be well defined. Force Control should only adjust for small deviation on the parts, but advanced control can overcome greater deviations. The closer the given path to the actual part is, the better surface finishing can be achieved.

  • Page 109: Hex-Search

    OPERATION The tool should always be perpendicular to the surface. High angular deviation at given • points demands higher rotational compensation from the Force Control. Verify your path on the workpiece. Before adjusting the Force Control parameters, check • if the recorded path covers the workpiece as required, and the robot follows the part surface as planned.
  • Page 110 OPERATION : shows the name of the node. It can be edited and saved. This option searches in a specified direction, distance, rotation or along a trajectory for an object. Relative direction: The direction in which the search is carried out. This can be set in a direction relative to the tool, to the base or on a trajectory.

  • Page 111: Onwaypoint

    OPERATION Center Tool The Center Tool option can, for example find a center of a hole (various shapes) with a small object. This option searches in set directions for the perimeters within a set distance, then moves the robot or base to the relative center of the boundaries that have been found. Frame: Set the Tool or Base.

  • Page 112: Trajectory

    OPERATION Type: The type of the waypoint. It can be set to Fixed. Robot Pose: Coordinate and rotation values for the waypoint. Set via Tool button: This checkbox allows the command to automatically get the Robot Pose values when pressing the tool button. In this case, the LED of the Tool button turns to steady green.
  • Page 113 OPERATION : shows the name of the node. It can be edited and saved. Path from Hand Guide : inserts a new Path from Hand Guide child node. Path from OnWaypoints : inserts a new Path from OnWaypoints child node. Path from Shape : inserts a new Path from Shape child node.
  • Page 114 OPERATION : starts playing the generated trajectory. : jumps to the starting point of the trajectory. : jumps to the endpoint of the trajectory. : opens the Trajectory Options page. Trajectory Options Type: sets the trajectory type. The following values can be selected: Relative: the trajectory is started from the actual position of the TCP.
  • Page 115 OPERATION : when checked, the system reverses the direction of the trajectory. Shared speed settings: these settings are got from the preset values, set on the Surface Finishing page. You can also define the settings on this page. Speed: sets the speed type of the trajectory. The following values can be selected: Nominal: use this option is you want to have even TCP speed but can accept speed •...

  • Page 116: Path From Hand Guide

    OPERATION : jumps to the endpoint of the trajectory. 5.1.4.7. Path from Hand Guide command generates a path using hand guide. Path from Hand Guide The color of the node is yellow until the path is saved. : shows the name of the node. It can be edited and saved. Hand Guide : enables or disables hand guiding.
  • Page 117 . Wait until the enable button turns blue and drive the robot by hand with the help of the OnRobot sensor. NOTE: Make sure that you do not touch the tool before the hand guiding is activated, otherwise the robot can behave abnormally (e.g..: the robot could move...
  • Page 118 OPERATION : changes the order of the path name list. The order can be numeric or alphabetical. Not saved: indicates that the path is not saved and it is not empty. : saves the path. : deletes the opened path. : opens the Path Options page.

  • Page 119: Path From Onwaypoints

    OPERATION Acceleration: sets the target acceleration value. Hand Guide Filter Filter Slider: sets the smoothness of the hand guide path. Remove pauses: removes unwanted pauses (parts where the robot motion is less than 1 mm) from the path where the robot does not move. The following values can be selected: None: does not remove any pauses from the path.
  • Page 120 OPERATION : shows the name of the node. It can be edited and saved. Hand Guide : enables or disables hand guiding. Use pushing force from SDR Control: uses the Push Force (F) value set for the SDR Control node, see Control.
  • Page 121 . Wait until the enable button turns blue and drive the robot by hand with the help of the OnRobot sensor. NOTE: Make sure that you do not touch the tool before the hand guiding is activated, otherwise the robot can behave abnormally (e.g..: the robot could move...
  • Page 122 OPERATION Only visible when the button is pressed. Enable waypoint insertion from tool button: when checked, a new OnWaypoint node can be added by pressing the button on the Sander. In this case, the LED of the Tool button turns to steady green.

  • Page 123: Path From Shape

    OPERATION Acceleration: sets the target acceleration value. Move: sets the type of the movement. The following values can be selected: Spline: the path points are connected with a spline. It ensures a faster path. • Linear: the path points are connected with linear lines using the Blend parameter as the •...
  • Page 124 OPERATION : shows the name of the node. It can be edited and saved. Path Type : select this option to use a squared path. d: sets the overlap distance between two parallel running of the Sander. Direction : sets the direction of the path. Sharp: when checked, the path follows sharp edges.
  • Page 125 OPERATION Path Type : select this option to use a spiral path. d: sets the overlap distance between two parallel running of the Sander. Direction : sets the direction of the path clockwise or counterclockwise. Add closing circle: when checked, the spiral path is closed. Pad Size: shows the size of the pad.
  • Page 126 OPERATION NOTE: Minimum 2x2, maximum 3x5 points can be configured. Rows: sets the number of rows in the shape. • Columns: sets the number of columns in the shape. • Path Options By default, the Speed settings are marked with gray (disabled) and got from the preset values, set on the 5.1.4.6.

  • Page 127: Tcp

    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 128: Vg10/Vgc10

    OPERATION enter the workpiece mass that is attached to the device. The device own mass is added automatically. Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position. Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece. 5.1.5.
  • Page 129 OPERATION If you select a channel in the Grip row and you do not select Require grip for it, the channel will try to achieve the target vacuum but no errors will be reported for the channel if the target vacuum is not achieved.
  • Page 130 OPERATION NOTE: Setting a lower vacuum gives a faster grip with less wear on the vacuum cups. It also reduces the risk of leaving suction marks on delicate workpieces. It can take a few seconds when pressing Play or Test before the robot program starts.
  • Page 131 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 132: 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 133 OPERATION To enable/disable the toolbar, press on the OnRobot logo on the top right corner and check/uncheck the Enable toolbar checkbox.

  • Page 134: Eyes

    OPERATION 5.2.1. Eyes To open up the toolbar, follow the instructions under How to Access the Toolbar in the 5.2. URCap Toolbar section. The toolbar for the Eyes is shown below. The toolbar shows the status of the camera.

  • Page 135: Hex-E/H Qc

    OPERATION 5.2.2. HEX-E/H QC To open up the toolbar, follow the instructions under How to Access the Toolbar in the 5.2. URCap Toolbar section. 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 136 Wait until the enable button turns blue and drive the robot by hand with the help of the OnRobot sensor. NOTE: Make sure that you do not touch the tool before the hand guiding is activated...

  • Page 137: Vg10 / Vgc10

    OPERATION 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 138: Urscript Commands

    URScript commands can be used alongside other scripts. 5.3.1. Eyes When the OnRobot URCap is enabled, there will be defined script functions for Eyes: • get_eyes_workp_pose() This function will retrieve the pose of the last detected workpiece from the Eye Box.
  • Page 139 This function can be used to send the robot's current pose to the Eye Box. This is only necessary for calibrating the External Mount. • eyes_locate(task_id, locate_limit) : Is the task_id to be executed by Eyes. task_id : Configures the trial behavior of the command. - 1 means try once, 0 is...

  • Page 140: Vg10/Vgc10

    OPERATION 5.3.2. VG10/VGC10 When the OnRobot URCap is enabled, there will be several VG script functions available: • vg10_grip (channel, vacuum, timeout, alert, tool_index) Commands the VG10 to perform a grip. : Tells which channel to be gripped with. channel •...
  • Page 141 OPERATION • vg10_release(channel, timeout, autoidle, tool_index) Commands the VG10 to perform a release. : Tells which channel to be released. channel • 0 = Channel A • 1 = Channel B • 2 = Channel A and Channel B If not set, this parameter defaults to 2 (A and B). : Tells how long to wait for vacuum to be removed.

  • Page 142: Feedback Variables

    Match percentage between the workpiece's model and EyesMatch the one in used as defined in the Eyes Inspection Task. Number of detected workpieces located by the Eyes Part EyesWorkpCount Location or the Eyes Inspection Tasks. It is only updated...

  • Page 143: Hex-E/H Qc

    Latest detected landmark pose. Number of detected workpieces located by the Eyes Part eyes_workp_cnt Location or the Eyes Inspection Tasks. It is only updated after the EyesGetWorkpiece command is executed. eyes_workp_pose p[x,y,z,rx,ry,rz] Pose of latest detected workpiece. eyes_workp_type - Type of the latest detected workpiece.

  • Page 144: Vg10 / Vgc10

    Torque value about the Z axis 5.4.3. VG10 / VGC10 Feedback Variable Unit Description on_return The return value for the OnRobot commands vg_Vacuum_A %Vacuum Returns the %Vacuum achieved on channel A vg_Vacuum_B %Vacuum Returns the %Vacuum achieved on channel B...

  • Page 145: Additional Software Options

    ADDITIONAL SOFTWARE OPTIONS 6. Additional Software Options 6.1. Compute Box/Eye Box 6.1.1. Ethernet Interface Setup A proper IP address must be set for the Compute Box/Eye Box and the robot/computer to be able to use the Ethernet interface. The IP address can be configured using DIP switches 3 and WARNING: Stop the robot program before you change any Ethernet interface settings.
  • Page 146 ADDITIONAL SOFTWARE OPTIONS IP Address of the Compute Box/Eye IP Address of the Robot/Computer The IP address of the Compute The Compute Box/Eye Box will automatically assign an Box/Eye Box is fixed 192.168.1.1. IP address to the connected robot/computer if it was configured to obtain an IP address automatically.

  • Page 147: Web Client

    ADDITIONAL SOFTWARE OPTIONS 6.1.2. Web Client OnRobot's Web Client is used to configure an Eyes application. To access it on your computer first the Ethernet interface needs to be set up to have a proper communication between your computer and the Eye Box. It is recommended to use the factory default DIP switch settings (DIP 3 On and DIP 4 Off).

  • Page 148: Web Client: Devices Menu

    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 149: Eyes

    This section displays information about the device's Status, Serial number, Firmware version and Licenses. Network controller This section displays information about the Firmware version of the Network controller. OnRobot Eyes Backup Click on Open OnRobot Eyes Backup and the following screen will appear.
  • Page 150 Click on Create backup to download a backup package that contains the configuration of the OnRobot Eyes. Click on Import backup to upload the OnRobot Eyes configuration to the Eye Box. The successfully uploaded configuration will overwrite any configuration on the Eye Box.

  • Page 151: Hex-E/H Qc

    ADDITIONAL SOFTWARE OPTIONS 6.1.3.2. HEX-E/H QC Monitor and control 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 152 To eliminate the Faulty sensor status, initiate an auto-calibration. Auto-calibration Auto-calibration is an option to prolong the time the sensor is in service before it is sent back for OnRobot factory re-calibration. Auto-calibration can be done onsite, and it takes only a couple of minutes. NOTE: Auto-calibration tab does not appear if the firmware version of the HEX sensor is lower than 2.15.
  • Page 153 6. Confirm the process in the popup window. 7. If the auto-calibration was successful, the following message is shown: Auto-calibration successfully performed. If the auto-calibration was carried out but the result indicates that a recalibration at the OnRobot factory is recommended, then the following message is shown:...

  • Page 154: Vg10 / Vgc10

    It is recommended to make an auto-calibration every 2-3 months. • If the auto-calibration process detects that an OnRobot factory re-calibration is needed, • schedule your sensor to be sent back to the OnRobot factory for a re-calibration within the coming months. 6.1.3.3. VG10 / VGC10...
  • Page 155 ADDITIONAL SOFTWARE OPTIONS 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. NOTE: The power limit set in this page is not stored permanently and always restored to the default value on power reset.

  • Page 156: Web Client: Configuration Menu

    6.1.4. Web Client: Configuration Menu The factory default DIP switch settings set the IP address of the Eyes Box to a fixed 192.168.1.1 (subnet mask 255.255.255.0). If the IP address needs to be changed the first the DIP switch 3 needs to be set to Off and the Eye Box power needs to be reset.

  • Page 157: Web Client: Weblogic Menu

    This is a special option of the EtherNet/IP connection for some robots. For these robots as part of the installation the required values will be given and instructed to set. 6.1.5. Web Client: Weblogic Menu For information how to operate Eyes via WebLogic, see User Manual for Using WebLogic™. 6.1.6. Web Client: Path Menu NOTE: The Path feature may not be available to your robot type.

  • Page 158: Web Client: Update Menu

    ADDITIONAL SOFTWARE OPTIONS NOTE: Always make sure that you do not delete any path that is currently in use in any of your robot programs. Otherwise the path will need to be re-recorded, since the delete operation cannot be undone. The Compute Box can store up to 100 Mbytes of paths that is roughly equal to 1000 hours of recordings.

  • Page 159: Web Client: Tcp/Cog

    Click on Update in the firmware section of the page to start the firmware update process. If the update is finished and was successful, the message below is shown. 6.1.8. Web Client: TCP/COG Use the TCP/COG calculator to calculate the TCP (Tool Center Point) and COG (Center of Gravity) values for your OnRobot product combination.
  • Page 160 Click on to set custom Adapter plate settings. 2. Click on the No eyes card to modify the Eyes preset settings. 3. Click on the No bracket card to modify the Angle Bracket preset settings. 4. Select mounting type.

  • Page 161: Web Client: Account Settings

    ADDITIONAL SOFTWARE OPTIONS 6.1.9. Web Client: 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 •...
  • Page 162 ADDITIONAL SOFTWARE OPTIONS 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 163: Web Client: Inspection Monitoring

    • 6.1.10. Web Client: Inspection Monitoring OnRobot Eyes inspection can be executed and monitored from the Web Client. This is useful to monitor the decisions taken by Eyes and test the inspection tasks created. To access the monitoring functionality, in the Devices menu, click on the Eyes tool and navigate to Inspection and then Monitoring.
  • Page 164 ADDITIONAL SOFTWARE OPTIONS Additionally, it is possible to see the latest 5 inspection results by clicking Get last 5 detections.

  • Page 165: Hardware Specification

    HARDWARE SPECIFICATION 7. Hardware Specification 7.1. Technical Sheets 7.1.1. Eyes Eyes Camera Characteristics Unit Interface USB-C 3.x Image Sensor Technology Rolling Shutter. Size 1.4 x 1.4 [ μm px] RGB Camera Field of View (FOV) 69.4 x 42.5 x 77 (+/- 3) [°]...
  • Page 166 Reflections and focused light spots Keep minimal Characteristics of objects Different from background Camera with respect to workspace table Looking straight to it Eyes Lighting Kit Eyes Lighting Kit Features Unit Input voltage Maximum current Connection 3-pin M8 connector 0–50 [°C]...

  • Page 167: Input Current

    HARDWARE SPECIFICATION Eyes Lighting Kit Features Unit Calculated operation life 30 000 Eye Box Eye Box 1.01 kg Weight 2.23 lb Required power supply 24V (6.25A) Calculated operation life 30 000 h Power Supply (6.25A/150W) Typical Units Input voltage (AC)

  • Page 168: Hex-E Qc

    HARDWARE SPECIFICATION Digital Input (DI1-DI8) as PNP Typical Units Voltage level - FALSE -0.5 Input current [mA] Input resistance [kΩ] Digital Input (DI1-DI8) as NPN Typical Units Voltage level - TRUE -0.5 Voltage level - FALSE Input current [mA] Input resistance [kΩ] 7.1.2.

  • Page 169: Hex-H Qc

    HARDWARE SPECIFICATION Operating Conditions Minimum Typical Maximum Unit Re-calibration period* 15 000** [Hours] *Notification is provided when factory re-calibration is recommended. **Based on energized hours. Best practice for maintaining your calibrated device: Turn off the HEX sensor when not in use for a longer period. •...

  • Page 170: Full Scale Nonlinearity

    HARDWARE SPECIFICATION General Properties 6-Axis Force/Torque Sensor Unit Full scale nonlinearity < 2 < 2 < 2 < 2 Hysteresis (measured on Fz axis , typical) < 2 < 2 < 2 < 2 Crosstalk (typical) < 5 < 5 <...

  • Page 171: Hex-E Qc And Hex-H Qc Comparison

    HARDWARE SPECIFICATION 7.1.4. HEX-E QC and HEX-H QC Comparison When the sensor is used in applications where higher sensitivity is needed HEX-E QC is recommended, where higher payload or tool length is needed HEX-H QC is recommended. The following graphs show the extent of the payload and the tool length that you can use together with the HEX-E and the HEX-H sensors in case of applications requiring high or moderate precision.

  • Page 172: Vgc10

    HARDWARE SPECIFICATION Other applications (e.g.: part detection, force monitoring) In the blue region it is recommened to use only the HEX-E QC. 7.1.5. VGC10 General Properties Minimum Typical Maximum Unit 80 % [Vacuum] Vacuum -0.05 -0.810 [Bar] [inHg] Air flow [L/min] With default attachments [kg]...

  • Page 173: Relative Humidity (Non-Condensing)

    HARDWARE SPECIFICATION Operating Conditions Minimum Typical Maximum Unit Power supply 20.4 28.8 Current consumption 1500 [mA] Operating temperature [°C] [°F] Relative humidity (non-condensing) Calculated operation life 30 000 [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.
  • Page 174 HARDWARE SPECIFICATION The Adaptor Plate can be placed in different positions by rotating it 90º. Having as reference the letters A and B written on the gripper housing, the Adaptor Plate can be placed to separate both channels or to communicate them. If the Adaptor Plate is placed as in picture below on the left, both channels will be separated, and they can be used independently or combined.
  • Page 175 HARDWARE SPECIFICATION NOTE: Please, note that the O-Ring in the Adaptor Plate is not glued therefore it can be pulled out. If that happens simply put it back in place and the gripper will work as before. Extension Pipe The Extension Pipe provides an extra length of 50 mm to reach narrow spaces. NOTE: Remember to use the Adaptor Plate rotated to achieve a higher air flow when using both channels together.
  • Page 176 HARDWARE SPECIFICATION Below different mounting configurations with the provided attachments are shown. 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 in the image below.
  • Page 177 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 178 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 179 Image External Diameter [mm] Internal Diameter [mm] Gripping Area [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 •...
  • Page 180 HARDWARE SPECIFICATION 15 mm 40 mm 30 mm Vacuum (kPa) Vacuum (kPa) Vacuum (kPa) Payload (kg) NOTE: To use more than 7 (15mm), 4 (30mm) or 3 (40mm) vacuum cups with the VGC10 a customized adaptor plate is needed. The table above is created with the following formula that equalizes the lifting force with the payload considering 1.5G of acceleration.
  • Page 181 (air flow) is expected and the more air is moved in a grip resulting in longer gripping times. 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.
  • Page 182 HARDWARE SPECIFICATION 25 mm Number of Cups Surface Foil 0.83 1.07 1.43 1.57 Thin paper 1.08 1.71 2.23 3.21 Foil - round shape 1.28 2.32 3.32 4.25 Plastic bag 0.32 0.54 0.63 0.74 The vacuum cup is silicone rubber compliant with the USA Food and Drug Administration (FDA).
  • Page 183 HARDWARE SPECIFICATION Unused holes can be blinded using a blind screw, and each fitting can be changed to a different type to match the desired suction cup. The fittings and the blinding screws are mounted or dismounted by screwing (2Nm tightening torque) or unscrewing them with the provided 3 mm Allen key.
  • Page 184 HARDWARE SPECIFICATION Leaking vacuum cup lips • Leaking workpieces • The smallest leak under a vacuum cup can be hard to find (see picture below). Leaking workpieces can be even harder to identify. Things that look completely tight might not be tight at all. A typical example is coarse cardboard boxes. The thin outer layer is often requiring a lot of air flow to create a pressure difference over it (see figure below).

  • Page 185: Mechanical Drawings

    A low vacuum setting results in less air flow and less friction below the vacuum cups. This means VG gripper filters and vacuum cups will last longer. 7.2. Mechanical Drawings 7.2.1. Adapter Plate No adapter plate is required. 7.2.2. Mountings 7.2.2.1. HEX-E/H QC * Distance from Robot flange interface to OnRobot tool...

  • Page 186: Eyes - Robot Mount

    HARDWARE SPECIFICATION All dimensions are in mm and [inches]. 7.2.2.2. Eyes - Robot Mount All dimensions are in mm and [inches]. 7.2.2.3. Eyes - External Mount All dimensions are in mm and [inches].

  • Page 187: Eyes Lighting Kit Mount

    HARDWARE SPECIFICATION 7.2.2.4. Eyes Lighting Kit Mount Eyes with Light Eyes with Light and Diffuser All dimensions are in mm and [inches].

  • Page 188: Eye Box

    HARDWARE SPECIFICATION 7.2.2.5. Eye Box All dimensions are in mm and [inches]. 7.2.3. Tools 7.2.3.1. VGC10...

  • Page 189: Tcp, Cog

    All dimensions are in mm and [inches]. 7.3. TCP, COG Using Tool Connection Use the TCP/COG calculator to calculate the TCP and COG values for your OnRobot product combination. The TCP/COG calculator can be downloaded from www.onrobot.com/downloads. Using Compute Box/Eye Box For more information, see the 6.1.8.

  • Page 190: Eyes

    HARDWARE SPECIFICATION 7.3.1. Eyes Coordinate system TCP [mm] Center of Gravity Weight [mm] Tilt: 0° X = 0 cX = -0.19 0.282 kg Y = 0 cY = 68.18 0.622 lb Z = 12 cZ = 0.48 Tilt: 45° X = 0 cX = -0.19...

  • Page 191: Hex-E/H Qc

    HARDWARE SPECIFICATION 7.3.2. 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 7.3.3. VGC10 Coordinate system TCP [mm] Center of Gravity [mm] Weight cX=-1 0.814 kg cY=-1 1.79 lb Z=75 cZ=37 * With no attachments...

  • Page 192: Maintenance

    8.1. Eyes Eyes Camera Clean the lenses (front surface) of the Eyes regularly with the supplied micro-fiber cloth. For stronger contamination, use isopropyl alcohol with a soft cotton swab to keep it clean. Eyes Lighting Kit Clean the Lights with a soft sponge or cloth made from 100% cotton. Use lukewarm water and a mild dish washing detergent.
  • Page 193 MAINTENANCE DANGER: Identify how often the filters need service and schedule maintenance with a fixed period short enough to ensure a firm grip at all times. An overall inspection of the VG grippers must be performed regularly and at least once every 6 months. Never power the VG grippers without filters or with filters mounted incorrectly.

  • Page 194: Troubleshooting

    CAUTION: Installed URCaps from different vendors may affect the OnRobot URCaps operation. If you experience slow GUI response, performance issue, slow program start, error pop-ups, or function loss, make sure that only the OnRobot URCap is installed on the robot.

  • Page 195: Tool Functions Are Not Available

    TROUBLESHOOTING 9.5. Tool Functions Are Not Available If the tool functions are not available (grayed out) in the program, return to the Installation tab > URCaps > Device info and then back to the program. 9.6. URCap Pop-Up Messages 9.6.1. HEX-E/H QC 9.6.1.1.

  • Page 196: Auto-Calibration Warning

    TROUBLESHOOTING 9.6.1.2. Auto-calibration Warning Displayed pop-up message Error code (on the Web Client): 4096 Description: The HEX sensor requires Auto-calibration. How to solve and clear the error: Solution Error Clearance Acknowledge the message in the pop-up dialog. Use the Auto-calibration Perform the Auto-calibration process if possible.

  • Page 197: Error 4096

    TROUBLESHOOTING Case 2. The payload on the robot is within limit and high force drifting occurs in the Fz • direction. How to solve and clear the error: Solution Error Clearance Click Close. Removing the payload will Case 1. Remove the payload from the robot. clear the error message.

  • Page 198: Warranties

    Ownership of devices or components replaced by and returned to OnRobot A/S shall vest in OnRobot A/S. Any other claims resulting out of or in connection with the device shall be excluded from this warranty. Nothing in this warranty shall attempt to limit or exclude a customer’s statutory rights nor the manufacturer’s liability for death or personal injury resulting...

  • Page 199: Certifications

    CERTIFICATIONS 11. Certifications...

  • Page 200: Emc

    CERTIFICATIONS 11.1. EMC...

  • Page 201: Eyes - Environment

    CERTIFICATIONS 11.2. Eyes - Environment...

  • Page 202: Eyes Lighting Kit - Environment

    CERTIFICATIONS 11.3. Eyes Lighting Kit - Environment...

  • Page 203: Declaration Of Incorporation

    CERTIFICATIONS 11.4. Declaration of Incorporation 11.4.1. Eyes...

  • Page 204: Hex-E

    CERTIFICATIONS 11.4.2. HEX-E...
  • Page 205 CERTIFICATIONS 11.4.3. HEX-H...
  • Page 206 CERTIFICATIONS 11.4.4. VGC10...

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