BLUE DANUBE ROBOTICS AIRSKIN User manual

Top Layer
UR10 AIRSKIN Supportlayer
a1x SL shoulder
b1x SL lower elbow
c1x SL upper elbow
d1x SL wrist 1
e2x SL wrist 2/3
f1x Screwdriver TX8 HF
g30x Screws T8
h3x external cable
i 1x Configuration Button
j 1x Connection Module (ACM)
k1x Termination Part
l1x Debug Part
Bottom Layer
UR10 AIRSKIN Pads
A1x Pad shoulder
B2x Pad upper arm
C1x Pad elbow
D1x Pad lower elbow
E2x Pad forearm
F1x Pad wrist 1
G2x Pad wrist 2/3
CONTENT
Joint
Base
Shoulder
Elbow
Wrist 1
Wrist 2
Wrist 3
Angle
0°
-90°
125°
0°
0°
0°
MOUNTING POSITION
INSTALLATION GUIDE
a
b
c
de
e
A
B
C
DE
G
G
F
j k lihgf

04
02
05 2x2
03 2x6
01 2x6
AIRSKIN Supportlayer Mounting
06
connect the cableconnect the cableconnect the cable
k
connect termination
part

11
1009
08
07
AIRSKIN Pad Mounting
8x
PLOPP!
8x
PLOPP!
10x
PLOPP!
10x
PLOPP!
!
7x
PLOPP!
7x
PLOPP!
6x
PLOPP!
7x
PLOPP!
PLOPP!
7x
PLOPP!
7x
PLOPP!

4
15 16
AIRSKIN Cable Mounting
Installing the AIRSKIN Connection Module
14
12 13
CLICK!
CLICK!
CLICK!
CLICK!
IN
IN
OUT
OUT

AIRSKIN Initial Configuration
17 18
START
PRESS
3 sec
AIRSKIN Pads are now linked
together and the AIRSKIN Pads
show a continuous green light.
20
19
SAFETY CONFIGURATION

Technical Data
0V
24V
GND
PWR
POWER
EI1
24V
EI0
24V
SAFETY
Emergency Stop
SI1
24V
SI0
24V
Safeguard Stop
ACM CONNECTION
MOTION RANGE
Base +/- 360° no limitation
Shoulder +/- 360° no limitation
Elbow +/- 150°
Wrist 1 + 35° / - 215°
Wrist 2 +/- 270°
Wrist 3 +/- 360° no limitation
GRAVITY COMPENSATION ADJUSTMENT
Add 1.8 kg to the configured TCP weight setting
INFORMATION
AIRSKIN is subject to a natural process of aging, manifested by discolouration.
This has no effect on function or stability of the product. Direct uv irradiation
will enhance the aging process but has no influence on the quality.
reset

Status Codes
Code Meaning Action required
Blue solid AIRSKIN operational.
Red solid AIRSKIN pad is in collision Move robot out of collision.
Red blinking ERROR: AIRSKIN pad is leaking or
general error.
• Look for visual punctures or damage
- Internal precautional measures can trigger a
safe shutoff.
- Press the black button on the - AIRSKIN
Connection Module to reset.
- AIRSKIN pad is damaged, please replace
AIRSKIN pad.
Yellow solid Safety channels open.
- One pad is in collision and has red light on, see
“red solid code”.
- Magnetic connectors/cables unplugged.
- End connector not attached.
- Not all pads connected together.
Yellow blinking Safety disagreement, robot
controller is shutting down.
- Channel A or B open. Check cabling and
connection to robot controller.
- Unplug/plug external magnetic cables.
- Turn on UR controller and look for LED signals.
Green solid AIRSKIN pads are now linked
together.
Green blinking Configuration error: Number of
pads has changed.
Use AIRSKIN configurator to newly link all pads
together.
Blue blinking
Airskin pad was in collision or
had an error before powering on
and needs acknowledgement.
Press pad to acknowledge.

Enable Switch
BUTTON CONFIGURATION
aDeadman’s switch to enable the user to actively bypass the AIRSKIN while the switch is pressed in
middle position. No Software configuration needed.
CI1
24V
CI0
24V
24V
DI0
DI1
EI1
24V
EI0
24V
SAFETY
Emergency Stop
SI1
24V
SI0
24V
Safeguard Stop
a
b
c
b Safeguard Reset. Configurable by: c Freely configurable buttons. (e.g.
with Start Program for button b, and
Freedrive for button c)
b – digital_input[0] (Start Program)
c – digital_input[1] (Freedrive)

Check external cable connection and IN/OUT connection THEN restart ACM
Check if Termination Part is connected correctly THEN restart ACM Check external cable connection and IN/OUT connection THEN restart ACM
Used Components for troubleshooting:
1. Check if ACM is connected correctly by disconnecting the AIRSKIN and plugging the AIRSKIN BYPASS directly into the ACM
2 Reconnect the AIRSKIN directly to the ACM and make sure the SPARK is disconnected. Check the status of all AIRSKIN PADs
2a Recheck connection of ACM to Robot Controll Unit in the installtion guide
3A1. Touch AIRSKIN PAD to acknowledge AIRSKIN. THEN
In error situations -solve blinking error codes before solid error codes
5 NONE is active
4 SOME AIRSKIN PADs are active (others are not active)
3 ALL AIRSKIN PADs are active
LEDs on ACM solid-> 2 LEDs on ACM not solid -> 2a
ALL-> 3 SOME -> 4 NONE -> 5
3E1. Move AIRKIN out of collision THEN restart ACM
3G1. Remove SPARK and connect AIRSKIN to ACM
3D1. Touch AIRSKIN to acknowledge
3H1. AIRSKIN ready for operation
3H. BLUE solid
3D. BLUE blinking 3F. YELLOW solid
3E. RED solid 3G. GREEN solid
3C. GREEN blinking
3B. YELLOW blinking
3A. RED blinking
4A. Check external cable connection and IN/OUT connection from active PAD to the next inactive PAD THEN restart ACM
3F2. Check if Termination Part is connected correctly THEN restart ACM
3C1. Total number of mounted PADs has changed
3B1. Check external cable connection and IN/OUT connection THEN restart ACM
3A3. Mount AIRSKIN PAD and restart ACM
3A2. Demount AIRSKIN PAD and and wipe the magnetic connectors of support layer and AIRSKIN PAD
Restart ACM = Push the black button on the ACMs upper right corner and wait for 10 seconds
3B3. Demount AIRSKIN PAD and and wipe magnetic connectors of support layer and AIRSKIN PAD 3B4. Mount ARISKIN PAD and restart ACM
3C2. Plug SPARK to ACM and push SPARK button for 3 seconds
3C3. Unplug SPARK and connect AIRSKIN to ACM
3F1. Check external cable connection and IN/OUT connection THEN restart ACM
3F3. Demount all AIRSKIN PADs one after another. Start with the one closest to the EoAT. Wipe magnetic connectors of support layer and AIRSKIN PAD
If New Status - > Go to new Status Code
If ALL AIRSKIN PADS active -> Go to 3
4A1. Demount inactive AIRSKIN PAD and and wipe magnetic connectors of support layer and
4A2. Mount AIRSKIN PAD and restart ACM
5A. Reconnect external cables THEN restart ACM 5B. Check if Termination Part is connected correctly THEN restart ACM
5C. Demount PAD closest to ACM and wipe magnetic connectors of support layer and
5D. Mount AIRSKIN PAD and restart ACM
3B2. Check if Termination Part is connected correctly THEN restart ACM
4A3. Demount active AIRSKIN PAD and and wipe
magnetic connectors of
support layer and AIRSKIN PAD 4A4. Mount AIRSKIN PAD and restart ACM 4A5. Check if Termination Part is connected correctly THEN restart ACM
Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code If New Status -
> Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
If New Status - > Go to new Status Code
AIRSKIN PADs active = AIRSKIN PADs are either blinking or solid in any colour
If ALL AIRSKIN PADS active -> Go to 3
If ALL AIRSKIN PADS active -> Go to 3
If ALL AIRSKIN PADS active -> Go to 3
If ALL AIRSKIN PADS active -> Go to 3
If ALL AIRSKIN PADS active -> Go to 3
If ALL AIRSKIN PADS active -> Go to 3
Starting Point
ACM SPARK
AIRSKIN
BYPASS
Termination
Part

| Donau-City-Straße 11/15 |1220 Vienna | AustriaBlueDanube Robotics GmbH
[phone] | www.bluedanuberobotics.com |[e-mail]
V065