ROBOTIQ CNC Machine Tending Kit Manual de usuario

Robotiq CNC Machine TendingKit

for e-SeriesUniversal Robots

Instruction Manual

CNC Machine Tending Kit

robotiq.com | leanrobotics.org

Original Notice

Robotiq CNC Machine Tending Kit Instruction Manual

Revisions 5

1. GeneralPresentation 7

1.1. Introductionto the Hand-Egripper 7

1.2. Custom Fingers 9

1.3. IntroductiontotheMachineTending Copilot 10

1.4. Introductionto the Wrist Camera 10

2. Safety 15

2.1. Warning 15

2.2. Intended Use 16

3. Installation 17

3.1. Scope of Delivery 18

3.2. Required Toolsand Equipment 19

3.3. Environmentaland Operating Conditions 20

3.4. MechanicalInstallation 22

3.5. Software Installation 24

4. Control 32

4.1. Overview 32

4.2. Controlling yourHand-Egrippers 32

5. Machine Tending Copilot Functionalities 51

5.1. Find Contact Offset 53

5.2. Apply Contact Offset 57

5.3. Multipoint Path 57

5.4. Find Surface 61

5.5. ActiveDrive Toolbar 63

5.6. PathRecording 69

5.7. InsertionNode 71

5.8. Force ControlNode 76

5.9. Force Event 82

5.10. CollisionDetection 83

6. Machine Tending withthe Wrist Camera 85

6.1. Cam LocateNode 85

6.2. ScanCodeNode 105

6.3. FindVisual Offset andApplyVisualOffset Nodes, andDefining Tags 109

Robotiq CNC Machine Tending Kit Instruction Manual

6.4. Save Image Node 114

7. UserInterface 116

8. Specifications 117

8.1. Technicaldimensions 117

8.2. Mechanicalspecifications 122

8.3. Electricalspecifications 124

8.4. Image Specifications 125

9. Maintenance 127

9.1. GripperMaintenance 128

9.2. Routine Inspection 129

9.3. Cleaning Racksand PinionMechanisms 129

10. Spare Parts, Kitsand Accessories 131

11. Troubleshooting 133

11.1. Troubleshooting GrippersUsing LED Colors 133

11.2. Troubleshooting GrippersUsing the TeachPendant 133

11.3. Troubleshooting the Wrist Camera Using LED Colors 133

12. Hand-EWarrantyand Patent 135

13. Hand-EHarmonized Standards, Declarationsand Certificates 136

13.1. Translationof originalEC declarationof incorporation 136

13.2. Appliedstandards 138

13.3. IngressProtectionCertificate 139

14. Wrist CameraWarrantyand Patent 140

15. Wrist CameraHarmonized Standards, Declarationsand Certificates 142

15.1. Declarationof Incorporation 142

15.2. IngressProtectionCertificate 143

16. Contact 144

Robotiq CNC Machine Tending Kit Instruction Manual

Revisions

Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsor changesin

specifications.If suchmodificationismade,theInstruction Manual will also be revised:seerevision information.Seethelatest version

of thismanual online at robotiq.com/support.

Revision2019/11/12

lStandardized appearance of tablesthroughout the InstructionManual.

lSection "Cam LocateNode":

lRenamed subsection"Settings" to CameraLocateSettings"

lAdded typical use tipsforoptionsunderthe"CameraLocateSettings" window

lAdded "Auto Pick" subsection

lSection"ScanCodeNode":

lAdded subsection "Guidelineson Reading Codes"

lAdded subsection"StringsDataStored inCSVFiles"

lSection"Object Teaching":removed all mentionsof the"Play" buttonand "QuestionMark" buttonwhichwereused to accesscon-

textual help contents.Thiscontextual help hassincebeenremoved from theWrist CameraURCap.

Revision2019/10/10

lOfficial release.

Robotiq CNC Machine Tending Kit Instruction Manual

Thismanual and the product it describesareprotected bythe Copyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and therefore may not be reproduced in wholeor inpart,whetherfor sale or not,without prior writtenconsent from Robotiq.

Undercopyright law,copying includestranslationinto anotherlanguage orformat.

Informationprovided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by

Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and the product if theproduct hasbeen modified afterthe

edition date.

Theinformationcontained inthisdocument issubject to changewithout notice.

1.General Presentation

TheCNCMachineTending Kit isa Robotiq product that bundlestwo Hand-Egrippers,two setsof FingertipsExtender,two setsof 2F-

85FingertipsConversionKit and optionally,theWrist Camera.On thesoftwareside,thiskit includestheMachineTending Copilot.

Thiskit aimsto streamline machine tending applicationsbyinstalling two gripperson asinglerobot,which reducescycle timeforpick

and place operations.Moreover,theCNCMachine Tending Kit leveragesRobotiq Copilot softwareto createrobot programsthat self-

correct their waypointsbased onphysical feedback,orbyusing theWrist Camerafor visual feedback.Thismakesrobot programsmore

robust,and should reduceproductionstops.It also meansthat robot programsrequirefeweradjustmentswhenused fordifferent

machinesorworkenvironments.

For further detailsontheHand-Egripper,on theWrist Camera,oronCopilot capabilities,pleasereferto theinstructionmanual of each

product,found on robotiq.com/support.Thecurrent instructionmanual includesbasicinformation on all previouslymentionned

devices.

Info

Thismanual usesthemetricsystem.Unlessotherwisespecified,alldimensionsare inmillimeters.

Caution

The following section presentsthekeyfeaturesof theproduct,and must not be considered asappropriateto itsoperation.

Product featuresaredetailed in relevant sectionsof theInstruction Manual.

Read and understand safetyguidelinesbeforeattempting to useyourproduct.

1.1.Introductionto the Hand-Egripper

1.1.1.Grippernomenclature

The Hand-Egripperisaparallel gripper.Itstwo fingersareactuated byasinglemotor.

Fig.1-1:Robotiq Hand-Egripper.

Pleasereferto theand Spare Parts,Kitsand Accessoriesfordetailsonstandard and optional parts.The Hand-Ebasicgripperunit

includesflat rubber (NBR)overmolded aluminumfingers(NBR overmold isnot illustrated inFigure1.1:Robotiq Hand-Egripper).

Theusercaninstallfingersdirectlyon racks,orfastenfingertipsto fingertip holders,which areinturninstalled onracks.Referto the

MechanicalInstallationfor moreinformationon howto integrate custom fingersand fingertipsto Hand-E.

Robotiq CNC Machine Tending Kit Instruction Manual

Fig.1-2:Mounting afingeron a rack.

WhenHand-Eisordered asakit (see Installation),afingertip starting kit isincluded (seeSpare Parts,Kitsand Accessories).These

fingertipsshould be mounted onto fingertip holders.

Fig.1-3:Mounting afingertip on a fingertip holder(example).

Tip

Youcancustomizefingersand fingertips.Mount custom fingerson racks,and fingertipsonfingertip holders.

1.1.2.Object picking

The Hand-Egripperhasa single actuatorforopening and closing thefingers.It also allowsinternal gripping:fingerscanpickhollow

partsfrom inside by applying pressure with theoutersurface of the fingers.

Seethe figurebelowfor arepresentationand refer to theControlfordetailsonavailable positioncommandsforyourgripper.

Fig.1-4:Hand-Egripperinternal (left)and external (right) gripping.

Robotiq CNC Machine Tending Kit Instruction Manual

1.1.3.Setup and control

Hand-Eispowered and controlled directlyvia a singledevicecablethat carriesa24VDCsupplyand ModbusRTUcommunication

overRS-485.Seethe Installationforwiring information and sectionControlfor controlling thegripper(softwarepackagesareavailable

forcontrol viasometypesof robot controllers).

A grippercoupling isrequired to use Hand-E;providing mechanical and electrical connectivity.Seethe Installationto install the

coupling,theTechnicaldimensionsfortechnical drawings,and theSpare Parts,Kitsand Accessoriesforalist of availablecouplings.

Hand-Ehasanembedded object detectionfeature based on indirect sensing methods.Whenpicking anobject withthe"go to"

command,thegripperstatusindicateswhetherornot anobject hasbeenpicked,using onlyanobject detectionbit (0or1).Whenan

object isdetected,thegripperno longerincreasesthe forceexerted ontheobject.If the object isbeing dropped,thegripper

automaticallyexertsmoreforceuntil theobject isdetected oruntil theposition target from the"go to command" isreached.For

detailsonobject detection,seesectionControl.

1.2.Custom Fingers

TheCNCMachineTending Kit makesyourgripperseven moreversatile thanbefore.WiththeFingertipsExtender,you canwidenthe

grip to grasp largerobjects.The 2F-85 FingertipsConversion Kit kickstarts the tooling processof your owncustom fingersbyproviding

aninstallationframe,orhelpsreusing legacyfingersfornewapplications.Inaddition,theCNCMachineTending Kit isbundled with

threesetsof Hand-Efingers,aswell asV-groove fingertips(v4)manufactured forthe2-FingerAdaptive Robot Gripper.

To mount aFingertipsExtenderto agripperrackor to mount fingers/fingertipsontheFingertipsExtender,seesection Installation.

Fig.1-5:Hand-Efullyclosed withFingertipsExtenderand V-groovefingers.

Robotiq CNC Machine Tending Kit Instruction Manual

Fig.1-6:Hand-Efullyopened with FingertipsExtenderand

V-groovefingers.

1.3.Introductionto the Machine Tending Copilot

Force Copilot isasoftwarepackagedesigned to useforceand torquevaluesread byaforce-torquesensor (FT300),insupport to

roboticapplications.The collected data canthenbe leveraged for applicationssuch asguiding robot hands,force control,assembly,

product testing,and muchmore.ForceCopilot functionalities,suchasthe Visual Offset (using theoptional Wrist Camera)and Contact

Offset nodes,help unlockthefull potential of theCNCMachine Tending Kit.

Force Copilot requiresaproduct license,whichisstored onalicense dongleprovided withyourKit.The licensedongle must remain

connected to yourrobot controllerto use ForceCopilot functionalities.

Fig.1-7:ForceCopilot licensedongle.

1.4.Introductionto the Wrist Camera

The terms"Camera" and "Wrist Camera" used inthefollowing InstructionManual all referto the "Robotiq Wrist Camera",whilethe

term "Vision" and "VisionSystem" all referto the"Robotiq Wrist CameraVisionSystem" for UniversalRobots.

The Vision System usesthe Robotiq Wrist Cameraand theCam Locate node on Universal Robots to provide you with a simpleobject

teaching interface.

The interface allowsyou to set up the Vision System so that it can recognize object locationsand orientationsautomatically.TheVision

System,using theCam Locate feature,isonlydesigned to locate on object at a time ona predefined workplane.It getstheobject

position (x,y)and orientationalong thez-axis.You can thenoperate therobot based ontheobject location.TheWrist Camerais

designed forindustrial applications,to becombined withRobotiq adaptive grippers Hand-E,2F-85and 2F-140.

1.4.1.Vision SystemComponents

The figure belowdescribesthevariouscomponents of the Robotiq Vision System for Universal Robots.This system usesthe Robotiq

Wrist Camerawith anyUniversal Robotsmodel using a robot controllermodel CB3.1and up.For alist of provided components,see

theScope of Deliverysectionof theWrist CameraInstruction Manual.

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