ROBOTIQ SD-100 Manual de usuario

Robotiq ScrewdrivingSolution

for Universal Robots

Instruction Manual

ROBOTIQ SCREWDRIVING SOLUTION

robotiq.com | leanrobotics.org

Original Notice

Robotiq Screwdriving Solution - Instruction Manual

Table of Contents

Revisions 4

1. General Presentation 6

1.1. Screwdriving SolutionNomenclature 7

1.2. ScrewFeeding 10

1.3. ScrewPicking and Fastening 11

2. Safety 12

2.1. Disclaimer 12

2.2. Warnings, RiskAssessment and Final Application 12

2.3. Intended Use 14

3. Installation 16

3.1. Scope of Delivery 17

3.2. Required Toolsand Equipment 18

3.3. Environmental and Operating Conditions 20

3.4. Mechanical Installation 22

3.5. Electrical Setup 24

3.6. URCap Package 28

4. Operation 37

4.1. Calibrating the FT 300-SForce Torque Sensor(CB-SeriesOnly) 37

4.2. Force Copilot License Dongle (e-Series) 37

4.3. ScrewFeederSignals 37

4.4. Introductionto the ScrewdriverToolbar 39

4.5. ScrewdriverVacuum Sleeve Selection 41

4.6. Vacuum Coupler Adjustment 43

4.7. ScrewFeederAdjustment 44

4.8. ScrewFeeding Test 48

5. Software 49

5.1. Control Over Universal RobotsPackage (URCap) 49

6. ScrewdriverCalibration 64

6.1. Material Required 64

6.2. CalibrationProcedure 64

Robotiq Screwdriving Solution - Instruction Manual

7. Specifications 70

7.1. Technical Dimensions 70

7.2. Mechanical Specifications 72

7.3. Electrical Specifications 76

8. Maintenance 77

8.1. Robotiq Screwdriver 77

8.2. Robotiq ScrewFeeder 80

9. Spare Parts, Kitsand Accessories 83

9.1. Robotiq Screwdriver 83

9.2. Robotiq ScrewFeeder 86

10. Troubleshooting 87

10.1. Screwdriver Behavior 87

10.2. ScrewFeederBehavior 87

10.3. ErrorManagement 88

11. Warranty 92

12. Harmonized Standardsand Declarations 94

13. Contact 95

Robotiq Screwdriving Solution - Instruction Manual

Revisions

Robotiq maymodify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin

specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this

manual online at support.robotiq.com.

Revision2021/09/29

lUpdated Specificationssection

lUpdated Environmental and Operating Conditionssection

Revision2021/08/30

lInitial release

Robotiq Screwdriving Solution - Instruction Manual

Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof other countries, and by

international treaties, and therefore maynot be reproduced in whole or in part, whether for sale or not, without prior written

consent from Robotiq.

Under copyright law, copying includestranslation into another language or format.

Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed

by Robotiq for itsuse. There may be some differencesbetween the manual and the product if the product hasbeen modified after

the edition date.

The information contained in thisdocument issubject to change without notice.

1.General Presentation

The terms“Screwdriving Solution,” “Robotiq Screwdriving Solution,” “Screwdriver,” “Robotiq Screwdriver,” “SD-100,” “Screw

Feeder,” “Robotiq Screw Feeder” and “SF-300” used in the following manual all refer to the Robotiq Screwdriving Solution and

pertaining components. The Robotiq Screwdriving Solution, composed of the Robotiq Screwdriver and Robotiq ScrewFeeder, isa

robotic peripheral designed for industrial applications. Itsdesign makesit aunique tool for fastening componentstogether in an

autonomousmanner. The ScrewFeeder deliversscrewsindividually at a picking area.The Screwdriver then collectsthem using

vacuum technology and proceedsto the actual screwdriving task.

Info

The following manual usesthe metric system. Unlessotherwise specified, all dimensionsare in millimeters.

Info

The following section presentsthe keyfeaturesof the Robotiq Screwdriving Solution; each feature isdetailed in the

appropriate section of the manual. Safety guidelinesmust be read and understood before any operation isattempted

with the Screwdriver and/or Screw Feeder.

Robotiq Screwdriving Solution - Instruction Manual

1.1.ScrewdrivingSolutionNomenclature

The Robotiq Screwdriving Solution comprisestwo main components: the SD-100 Robotiq Screwdriver,and SF-300 Robotiq Screw

Feeder.

Fig. 1-1: Screwdriver and Screw Feeder

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

1.1.1.Screw Feeder Nomenclature

The Robotiq Screw Feeder isan electrical device used to take in screws, bring them individually to a picking areawith a rail, and

send asignal to the robot for the Robotiq Screwdriver to pickthem up for screwdriving tasksand applications.

Fig. 1-2: Screw Feeder Nomenclature (Front)

Robotiq Screwdriving Solution - Instruction Manual

Fig. 1-3: Screw Feeder Nomenclature (Back)

Fig. 1-4: Screw Feeder Nomenclature (Internal Components)

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

Robotiq Screwdriving Solution - Instruction Manual

1.1.2.Screwdriver Nomenclature

The Robotiq Screwdriver isan end-of-arm robotic tool used to pick up screwsfrom the Screw Feeder’spicking areausing vacuum

technology, and to carry out screwdriving tasks.

Fig. 1-5: Screwdriver Nomenclature

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

Tip

Even though the Screwdriving Solution isdelivered with varioustypesof screwdriving bitsand vacuum sleevesto meet

the needsof numerousapplications, it ispossible to order specific typesof bitsand sleevesaccording to your needs.

Robotiq Screwdriving Solution - Instruction Manual

1.2.Screw Feeding

Fig. 1-6: Screw Feeding Cycle

1. Screwsare dropped in the screw chamber manually or via an automated device.

2. Screwsin the chamber move toward the reclaiming wheel.

3. The wheel bladesof the reclaiming wheel pickup screwsand bring them up to the rail.

4. The rail directsthe screwsto the front of the Screw Feeder; the rail brush oscillatesand pushesmisplaced screwsback in the

screw chamber.

5. At the end of the rail, screwsare individually directed to the screwsingulator

6. The screw singulator bringsa screw before the screw detection sensor, which sendsa Ready signal to the robot controller.

Warning

Make sure not to fill the screw chamber of the Screw Feeder above the maxline.

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