ABB Robotics FlexGripper User manual

ROBOTICS
Product Manual
FlexGripper-Claw

Trace back information:
Workspace Robots and Applications version a56 (not checked in)
Published 2019-11-15 at 05:15:13
Skribenta version 5.3.033

Product Manual
FlexGripper-Claw
Document ID: 4GAA40401009901-001
Revision: A
© Copyright 20132019 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
Original instructions.
© Copyright 20132019 ABB. All rights reserved.
Robotics and Motion
Robotics
ABB Pte. Ltd.
2 Ayer Rajah Crescent
Singapore 139935

Table of contents
7Overview of this manual ...................................................................................................................
91 Safety
91.1 Introduction ......................................................................................................
101.2 General safety information ..................................................................................
101.2.1 Safety in the robot ...................................................................................
121.2.2 Safety risks ............................................................................................
121.2.2.1 Safety risks during installation and service work on the FlexGripper .....
131.2.2.2 Safety risks related to tools/workpieces ...........................................
141.2.2.3 Safety risks related to high speed ...................................................
151.2.2.4 Safety risks during operational disturbances .....................................
161.2.2.5 Risks associated with live electric parts ...........................................
181.2.3 Safety actions .........................................................................................
181.2.3.1 Safety fence dimensions ...............................................................
191.2.3.2 Fire extinguishing ........................................................................
201.2.3.3 Enabling device and hold-to-run functionality ....................................
211.3 Safety related instructions ..................................................................................
211.3.1 Safety signals in the manual ......................................................................
231.3.2 Safety symbols on the FlexGripper labels ....................................................
241.3.3 Safety guidelines ....................................................................................
252 FlexGripper-Claw
252.1 Specification ....................................................................................................
302.2 Mechanical structure & working principle ...............................................................
302.2.1 General .................................................................................................
322.2.2 Claw unit ...............................................................................................
332.2.3 Push plate unit ........................................................................................
352.3 Installation and Commissioning ...........................................................................
352.3.1 Overview ...............................................................................................
362.3.2 Unpacking .............................................................................................
382.3.3 Adjustment ............................................................................................
392.3.4 Mounting the new gripper .........................................................................
422.3.5 Commissioning .......................................................................................
482.4 Maintenance ....................................................................................................
482.4.1 General .................................................................................................
492.4.2 Regular Inspection of new gripper ..............................................................
502.4.3 Regular replacement ................................................................................
512.4.4 Regular adjustment .................................................................................
532.5 Repair .............................................................................................................
532.5.1 Instruction .............................................................................................
542.5.2 Pneumatic cylinder ..................................................................................
542.5.2.1 Replacing the cylinder of the claw ...................................................
572.5.2.2 Replacing the cylinder of the top press plate .....................................
602.5.2.3 Replacing the cylinder of push plates ..............................................
622.5.3 Magnetic proximity switch .........................................................................
662.5.4 Solenoid valve ........................................................................................
682.5.5 Dress cable ............................................................................................
702.6 Trouble shooting ...............................................................................................
702.6.1 Start-up failures ......................................................................................
712.6.2 Gripper not responding ............................................................................
722.6.3 Wrong movement ....................................................................................
732.6.4 Low performance ....................................................................................
742.6.5 Problem jogging the gripper ......................................................................
752.6.6 Mechanical noise and vibration ..................................................................
762.6.7 Workpiece drop down ..............................................................................
772.6.8 No Input signal detected ...........................................................................
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Table of contents

782.6.9 Package displacement .............................................................................
792.7 Decommissioning ..............................................................................................
792.7.1 Introduction ............................................................................................
802.7.2 Environmental information ........................................................................
812.7.3 Environmental information ........................................................................
822.8 Spare parts ......................................................................................................
842.9 Circuit diagram .................................................................................................
853 FlexGripper UI
853.1 Software installation ..........................................................................................
853.1.1 Installing FlexGripper UI Flexpendant application ..........................................
883.1.2 I/O signal configuration ............................................................................
893.1.3 Back-up and Reset System .......................................................................
913.2 Operation ........................................................................................................
913.2.1 FlexGripper UI main interface ....................................................................
923.2.2 Tool handle ............................................................................................
923.2.2.1 FlexGripper Claw function test .......................................................
953.2.2.2 TCP edit ....................................................................................
1003.2.3 Tune .....................................................................................................
1003.2.3.1 Position Tune .............................................................................
1023.2.3.2 Work object tune ........................................................................
1033.2.3.3 Test run .....................................................................................
1043.2.4 Production .............................................................................................
1043.2.4.1 Production monitor ......................................................................
1053.2.4.2 Setup ........................................................................................
1083.3 Trouble shooting ...............................................................................................
113Index
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Table of contents

Overview of this manual
About this manual
This manual provides instructions for the FlexGripper-Claw. Each chapter
concerning the FlexGripper-Claw contains information on:
• mechanical structure & working principle
• mechanical /electrical installation
• maintenance
• repair
• trouble shooting
• spare parts
Read through this document carefully, especially the sections about safety, before
you start to unpack, install and use the FlexGripper-Claw.
Usage
This manual should be used during:
• installation
• operation
• maintenance work
• repair work
Who should read this manual?
This manual is intended for:
• operators
• installation personnel
• repair and maintenance personnel
Prerequisites
The reader should be:
• familiar with industrial robots and the relevant terminology
• familiar with the equipment
• skilled in mechanical & electrical installation/maintenance/repairs
Organization of chapters
The manual is organized in to the following chapters:
ContentsChapter
Safety
FlexGripper-Claw
FlexGripper UI
Continues on next page
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Overview of this manual

References
Document IDReference
3HAC025755-001Product manual - IRB 660
3HAC039611-001Product manual - IRB 460
3HAC021313-001Product manual - IRC5
Revision
DescriptionRevi-
sion
First edition-
Restart information is updated to the latest restart mode, such as replacing I-start
with Reset System.
A
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Overview of this manual
Continued

1 Safety
1.1 Introduction
Overview
The safety information in this manual is divided into two categories:
• General safety aspects, important to attend to before performing any service
work on the FlexGripper. These are applicable for all service work and are
found in General safety information on page 10.
• Specific safety information, pointed out in the procedure when the danger is
imminent. How to avoid and eliminate the danger is either detailed directly
in the procedure, or further detailed in separate instructions, found in Safety
related instructions on page 21.
Note
This manual includes only the safety information related to this product.
The FlexGripper can be used together with IRB 660 or IRB 460. See the robot
and IRC5 controller manuals for more details on safety.
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Operating manual - General safety
information.
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1 Safety
1.1 Introduction

1.2 General safety information
1.2.1 Safety in the robot
Validity and responsibility
The information does not cover how to design, install and operate a complete
system, nor does it cover all peripheral equipment that can influence the safety of
the entire system. To protect personnel, the complete system must be designed
and installed in accordance with the safety requirements set forth in the standards
and regulations of the country where the robot is installed.
The users of ABB industrial robots are responsible for ensuring that the applicable
safety laws and regulations in the country concerned are observed and that the
safety devices necessary to protect people working with the robot system are
designed and installed correctly. Personnel working with robot must be familiar
with the operation and handling of the industrial robot as described in the applicable
documents, for example:
•Operating manual - IRC5 with FlexPendant
•Operating manual - General safety information I
•Product manual
IThis manual contains all safety instructions from the product manuals for the robots and the
controllers.
The robot system shall be designed and constructed in such a way as to allow safe
access to all areas where intervention is necessary during operation, adjustment,
and maintenance.
Where it is necessary to perform tasks within the safeguarded space there shall
be safe and adequate access to the task locations.
Users shall not be exposed to hazards, including slipping, tripping, and falling
hazards.
Connection of external safety devices
Apart from the built-in safety functions, the robot is also supplied with an interface
for the connection of external safety devices. An external safety function can
interact with other machines and peripheral equipment via this interface. This
means that control signals can act on safety signals received from the peripheral
equipment as well as from the robot.
Limitation of liability
Any information given in this manual regarding safety must not be construed as a
warranty by ABB that the industrial robot will not cause injury or damage even if
all safety instructions are complied with.
Related information
SectionDetailed in documentType of information
Installation and
commissioning
Product manual for the robotInstallation of safety devices
Continues on next page
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1 Safety
1.2.1 Safety in the robot