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FLEXXBOTICS Flexx Reference User Manual

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Flexx Reference User
Manual
FlexxBotics Corp. Product
June 2019
Flexx Reference User Manual
Page 1

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Summary of Contents for FLEXXBOTICS Flexx Reference

  • Page 1 Flexx Reference User Manual FlexxBotics Corp. Product June 2019 Flexx Reference User Manual Page 1...

  • Page 2: Revision Sheet

    Flexx Lockout AssemblyV2, License Key Rev 1.1 6/25/18 Spacer Call Outs and Updated Terms Rev 1.2 8/9/18 Flexx Lockout Assembly V3 Rev 1.3 1/16/19 Positional Tolerance, Software Installation Internet Connectivity Rev 1.4 6/5/19 Conversion to 3.9 and 5.3 Flexx Reference User Manual Page 2...

  • Page 3: Product Overview

    1. Product Overview 1.1. The Flexx Reference pairs with your Universal Robot through the seamless integration of a URCap Plugin and the simple Flexx Lockout Assembly mechanical mating system. The Flexx Reference enables flexible deployment and repurposing of any UR robot utilizing relative calibration and native nodes.
  • Page 4 M ale Reference Mechanical interface between work station and female Com ponent reference component Flexx Lockout Assem bly Mechanical assembly that when mated together creates a 6 degree of freedom lock or Flexx Lockout. Flexx Reference User Manual Page 4...

  • Page 5: Installation And Setup

    2. Installation and Setup In this section, the user should learn how to properly install the Flexx Reference URCap, efficiently integrate the Flexx Lockout Assembly, and effectively sync the URCap with the Flexx Lockout assembly. The Flexx Lockout Assembly has been intuitively designed to mate once the male assembly has been connected with the end effector.

  • Page 6: Click Settings

    2.1.4. Click the plus (+) button in the bottom left corner of the screen. 2.1.5. Open the USB device folder from the file explorer. 2.1.6. Select the Flexx Reference. URCap file and click Open. Flexx Reference User Manual Page 6...
  • Page 7 2.1.7. Verify that Flexx Reference now appears in the Active URCaps list with a green check mark. 2.1.8. Click Exit to leave the Polyscope settings window. Successful Cap Installation Press Exit when complete Flexx Reference User Manual Page 7...
  • Page 8 2.2.1. Navigate to the Installation Tab within Polyscope. 2.2.2. On the left side of the screen, click on the URCaps tab. 2.2.3. Select the Flexx Reference urcap. This will open the Flexx Reference Installation Node. 2.2.4. Click the “Enter a License” text box to launch the keyboard.
  • Page 9 2.3. M echanical Installation Verify that you have all of the following components: 1. Female Reference Component 2. Male Reference Component 3. Four (4) M6 Mounting Screws 4. Mating Pin Flexx Reference User Manual Page 9...
  • Page 10 Alignment Hole Top down view approaching robot End Effector Robot End Thru Hole Thru Hole Align with robot end joint Fully interfaced female with robot Flexx Reference User Manual Page 10...
  • Page 11 2.4.1. Navigate to the Installation Tab within Polyscope. 2.4.2. On the left side of the screen, click on the URCaps tab. 2.4.3. Select the Flexx Reference URCap. This will open the Flexx Reference Installation Node. Read the text information at the top of the page.
  • Page 12 2.4.8. Click the Point button to add a point feature. 2.4.9. In the bottom right corner of the screen, click Set Feature. This will launch the user interaction screen to free drive the robot to a position. Flexx Reference User Manual Page 12...

  • Page 13: Zero Position

    NOTE: This step is not required; however, it is recommended to allow easier navigation to the Flexx Lockout position. 2.4.12. Click Set Feature to open the user interaction screen. Free Drive the robot to the Flexx Lockout assembly. Flexx Reference User Manual Page 13...
  • Page 14 Once the pin is inserted, align and twist the thumbscrew until the male and female are completely flushed. 2.4.15. Tighten the thumbscrew. INCORRECTLY MATED CRITICAL: Any gap between the m ale and fem ale m ate will propagate positional error throughout the program . Flexx Reference User Manual Page 14...
  • Page 15 2.4.17. Select the pencil button in the title of the feature to rename it with a distinguishable name (example: Flexx_Feature_1). Flexx Feature Correctly Set Flexx Feature Correctly Named 2.4.18. Repeat steps 2.4.7 through 2.4.17 for any additional Flexx Lockout positions. Flexx Reference User Manual Page 15...
  • Page 16 2.4.19. Reset the TCP back to the original TCP. CRITICAL: It is extrem ely im portant to set the TCP back to the required TCP for the application. Select Original TCP 2.4.20. Save the Installation File. Flexx Reference User Manual Page 16...
  • Page 17 3. Flexx Reference Programming Workflow 3.1. In this section, the user should learn how to effectively program a Flexx Reference program using a combination of Flexx Features, Flexx Points and native nodes. Flexx Reference User Manual Page 17...
  • Page 18 3.2.2. On the left side of the screen, click on the URCaps tab. 3.2.3. Select the Flexx Reference Program Node to add it to the Robot Program tree. NOTE: Multiple Flexx Reference program nodes may be added to the program and act independently from each other.
  • Page 19 3.3.2.1. Add Flexx Point: A button to add a Move and Waypoint beneath the Flexx Reference Node. The Move and Waypoint are referred to in combination as a Flexx Point, and are always configured with the applied Flexx Feature. 3.3.2.2.
  • Page 20 Points Drop Down Menu. 3.3.2.5. Rem ove Selected Item : A button that removes the currently selected Waypoint. 3.3.2.6. M ove to W aypoint: A button to move the robot to the selected Waypoint pose. Flexx Reference User Manual Page 20...
  • Page 21 Recording a Flexx Feature. It is also important to note, if your robot base physically moves during this step, a new Flexx Feature must be taught using section 2.4. Selected Feature needs to be applied Flexx Reference User Manual Page 21...
  • Page 22 3.4.2. Select the Flexx Feature relevant to current program. NOTE: This does NOT apply the feature. 3.4.3. Click the Apply Feature button. 3.4.4. Verify that the applied feature is displayed as the Selected Feature. Selected Feature has been applied Flexx Reference User Manual Page 22...
  • Page 23 Section 3.3.2.2 for a description of the Prompt User for Position Checkbox). This will add a MoveL Node and a Waypoint configured with the selected pose with a default name “Flexx_Point”. FlexxPoint added as Native Node Click Add FlexxPoint Flexx Reference User Manual Page 23...
  • Page 24 Toggle Move type only after reading Section 4.1.17 W ARNING: Do NOT change the Feature configuration, unless a M oveJ is being used. This is controlled by the Flexx Reference Node. 3.5.4. Rename the Flexx Point if desired. When renaming, ensure an “xx” is within the new name.
  • Page 25 Reference node. This is to ensure proper functionality. If a native Move or Waypoint is detected, the software will prompt the user and the Flexx Reference node will remain undefined. Delete these nodes using the trash can in the Robot Program tree and then continue.
  • Page 26 4.1.2. Navigate to the Installation Tab within Polyscope. 4.1.3. On the left side of the screen, click on the URCaps tab. 4.1.4. Select the Flexx Reference URCap. This will open the Flexx Reference Installation Node. 4.1.5. Use the Rotate TCP button to select the Flexx Lockout TCP that represents the orientation of the male component of the assembly when mounted to the robot.
  • Page 27 CRITICAL: It is extrem ely im portant to set the TCP back to the required TCP for the application. 4.1.14. Navigate to the Flexx Reference Program Node. 4.1.15. Verify that the updated feature is selected in the Flexx Feature Drop Down List.
  • Page 28 Flexx Feature. 4.1.17. Check the program for MoveJ nodes (as displayed by the user prompt). Flexxbotics cannot currently re-configure MoveJ nodes due to software limitations. To do so, navigate to the MoveJ command interface by selecting the node and manually set the feature.
  • Page 29 5.1.2. Set a Flexx Feature by following all steps in Section 2.4 Recording a Flexx Feature. 5.1.3. Open the Program file for the existing UR program and Add a Flexx Reference Node to the Program Tree by following all steps in Section 3.2 Adding the Flexx Reference Node.
  • Page 30 5.1.7. Within the Waypoint Command screen, select M ove Here to move to the selected Waypoint. 5.1.8. Navigate to the Flexx Reference Node. 5.1.9. Add a Flexx Point at the current robot position by following Section 3.5 Adding Flexx Points.
  • Page 31 5.1.11. Repeat steps 5.1.5 through 5.1.10 for all Waypoints in the existing program. Add additional existing nodes as needed. 5.1.12. Delete all old Program Nodes. Pre-Deleting Nodes Finished Program Flexx Reference User Manual Page 31...
  • Page 32 6.1. Delete all Flexx References within installation node. 6.2. Go to setup robot and navigate to the URCaps page 6.3. Select the FlexxBotics URCap from the list of active URCaps 6.4. Select the ( - ) button to delete the URCap.

  • Page 33: Maintenance

    APPENDIX I: MECHANICAL SPECIFICATIONS AND MAINTENANCE Male Mounting Hole Pattern for included M6 Mounting Screw. Center Hole in not needed in standard applications Materials • Pin: Steel • Flexx Reference: 304 Stainless & Aluminum Mass • Male Reference Component: 628G • Female Reference Component:...
  • Page 34 Grease can be applied to the mating pin to facilitate installation and removal. The unit can accept wide variety of greases. Select grease that is best suited for the robot’s operation environment and is compliant with any processes the robot will be completing. Flexx Reference User Manual Page 34...

  • Page 35: Appendix Ii: Terms And Conditions

    Buyer, goods, equipment or services being purchased, (“Buyer”), it constitutes the offer of FlexxBotics including VAT, sales, use, excise and other (“Seller”) to the Buyer, and becomes a binding transaction taxes associated with same.
  • Page 36 6, the Buyer shall not receive, as a result of the completed. The Buyer shall also ensure that the sale of goods hereunder, any right or license of following conditions are satisfied: any kind under any intellectual property rights or Flexx Reference User Manual Page 36...
  • Page 37 RISE TO THE LIABILITY. assignee agrees to be bound by the terms and Seller’s Standard Product Warranty conditions of this Section 6. Seller warrants that each item of its iii) Buyer shall not: (1) copy the Programs; Flexx Reference User Manual Page 37...
  • Page 38 Buyer Seller before, after, intend for that provision to be amended and contemporaneously with the execution of this Flexx Reference User Manual Page 38...
  • Page 39 (ii) Buyer's negligent or improper installation of any goods, hardware, equipment or other items provided Seller hereunder. Flexx Reference User Manual Page 39...

  • Page 40: Appendix Iii: Contact Info

    APPENDIX III: CONTACT INFO Website www.flexxbotics.com Phone 1 (877) 456-1576 Sales EXT. 1 Technical Support and Engineering EXT. 2 Accounts Receivable EXT. 3 Email sales@flexxbotics.com for all commercial and pricing inquiries support@flexxbotics.com for all technical issues and questions Flexx Reference User Manual...

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