Bosch Rexroth SMART Flex Effector User manual

R320103228 en
SMART Flex Effector

R320103228
The data specified only serve to describe the product. Any references to possible uses are
provided merely as a convenience and shall be understood as example applications or
suggestions. Catalog data may not be construed as guaranteed properties. The information given
does not release the user from the obligation of own judgment and verification. It should be noted
that our products are subject to a natural process of aging and wear.
© Bosch Rexroth AG. All rights reserved, including rights of disposal, utilization, reproduction,
processing, circulation and application for industrial property rights.
The title page contains an illustration of a sample configuration. The product as delivered can differ
from the illustration.
The original instructions have been prepared in German.

Table of contents
en
Table of contents
1About this documentation 6
1.1 Validity of the documentation 6
1.1.1 This documentation applies to the following products: 6
1.1.2 SFE material numbers 7
1.2Structure of safety information 8
1.3 Abbreviations 9
2Safety 10
2.1 Intended use 10
2.1.1 The following applications are approved for the product: 10
2.2 Improper use 11
2.3 Residual risks 11
2.4 General safety instructions 14
2.5 EMC standards 14
2.6 Personnel qualifications 15
2.7 Personal protective equipment 15
3Product description 16
3.1 Axial alignment 16
3.2 Data sheet 17
3.3 Scope of delivery 19
3.4 Product marking 20
4Assembly 21
4.1 Fitting the adapter plate 22
4.2 Fitting the SFE flange cover on the flange 23
4.3 SFE assembly on flange cover 24
4.4 Electrical assembly 24
5Desktop software: SFE tool as a file for download 26
5.1 Screen settings 27
5.2 Setting up the connection 29
5.3 Changing the language 31
5.4 Updating the firmware 32
5.5Export SFE configuration 34
5.6 Import SFE configuration 36
5.7 Using the console 38
5.8 Recording measurements 39
5.9Viewing and exporting service data 41
5.10 Using the testcases 42
5.11 Opening the Smart Flex Effector website 45
5.12 Viewing open source license texts 46

Table of contents
en
6Interface description 47
6.1 Pin assignment 47
6.2 Protocol 48
6.2.1 System connection and application concept 48
6.2.2 Serial interface RS-485 49
6.3 Structure of the commands 49
6.3.1 Fundamental structure of the commands 49
6.3.2 CRC checksum 50
6.3.3 Handling the checksum when working with the SFE tool 52
6.4 GET functions 53
6.4.1 Locking 53
6.4.2 Sensors 54
6.4.3 Diagnostics 56
6.4.4 LED modes 57
6.4.5 System 59
6.5 SET functions 62
6.5.1 Locking 62
6.5.2 Sensors 64
6.5.3 LED modes 65
6.5.4 System 68
6.6 CTR functions 69
6.7 Example communication 70
7Range of functions 71
7.1 Transformation chain 71
7.2 Handling 74
7.2.1 Initial temperature compensation when starting up and after each restart 74
7.2.2 Handling errors 74
7.2.3 Moving at high travel speed 80
7.2.4 Using the locked and unlocked transformation chains 80
7.3 Exemplary application cases 81
7.3.1 Exact alignment of the robot above a component 81
7.3.2 Connecting connector contacts 81
7.3.3 Determining the orientation of pallets 81
7.3.4 Joining μ fits 81
7.3.5 Measuring a tool changer 82
7.4 Displaying various operating states (LED modes) 82
7.4.1 OFF 82
7.4.2 STATUS 82
7.4.3 IO 84
7.4.4 GRAPH_XYZ 85
7.4.5 QUALITY 87
7.4.6 Quality_PEAK 87
7.4.7 SENSOR 87
8Third-party license information 88

Table of contents
en
8.1 BSD 2-clause FreeBSD License 88
8.2 BSD (Three Clause License) 89
8.3 RSA MD4 or MD5 Message-Digest Algorithm License 90
8.4 MIT License 90
9Appendix 91
9.1 Table of figures 91
9.2 Table of figures 92

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About this documentation
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en
1 About this documentation
1.1 Validity of the documentation
1.1.1 This documentation applies to the following products:
This product is a mechatronic component which is expanded by using firmware.
The SFE is a sensor-based compensation module with independent kinematics in six degrees of
freedom. It increases precision, e.g. in handling robots, and opens up new areas of application for
robots and Cartesian systems. The SFE was designed to compensate for a process-related offset in
the translations X, Y, Z and the rotations Rx, Ry, Rz. A mechanical locking feature is integrated into
the unit as standard.

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About this documentation
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1.1.2 SFE material numbers
with standard bolt circle flange ISO 9409-1 31.5-4-M5 on the effector side and with a selectable
robot flange:
•R124300001 robot flange: ISO 9409-1 31.5-4-M5
•R124300002 robot flange: ISO 9409-1 40-4-M6
•R124300003 robot flange: ISO 9409-1 50-4-M6
•R124300004 robot flange: Blank
SFE material numbers with standard bolt circle flange on gripper side: ISO 9409-1 31,5-4-M5,
and an adapter for the gripper side and, as with previous versions, with a selectable robot
flange:
Additional adapter plate in size: ISO 9409-1 40-4-M6:
•R124300005 robot flange: ISO 9409-1 31,5-4-M5 + adapter plate on gripper side: ISO 9409-1 40-
4- M6
•R124300006 robot flange: ISO 9409-1 40-4-M6 + adapter plate on gripper side: ISO 9409-1 40-4-
M6
•R124300007 robot flange: ISO 9409-1 50-4-M6 + adapter plate on gripper side: ISO 9409-1 40-4-
M6
•R124300008 robot flange: Blank + adapter plate on gripper side: ISO 9409-1 40-4-M6
Additional adapter plate in size: ISO 9409-1 50-4-M6
•R124300009 robot flange: ISO 9409-1 31,5-4-M5 + adapter plate on gripper side: ISO 9409-1 50-
4- M6
•R124300010 robot flange: ISO 9409-1 40-4-M6 + adapter plate on gripper side: ISO 9409-1 50-4-
M6
•R124300011 robot flange: ISO 9409-1 50-4-M6 + adapter plate on gripper side: ISO 9409-1 50-4-
M6
•R124300012 robot flange: Blank + adapter plate on gripper side: ISO 9409-1 50-4-M6
Additional adapter plate: Blank (without holes):
•R124300013 robot flange: ISO 9409-1 31,5-4-M5 + adapter plate on gripper side: Blank without
holes
•R124300014 robot flange: ISO 9409-1 40-4-M6 + adapter plate on gripper side: Blank without
holes
•R124300015 robot flange: ISO 9409-1 50-4-M6 + adapter plate on gripper side: Blank without
holes
•R124300016 robot flange: Blank + adapter plate on gripper side: Blank without holes

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Additional materials available to order separately
•Material numbers (flange cover)
oR124000010 ISO 9409-1 50-4-M6
oR124000011 ISO 9409-1 40-4-M6
oR124000012 ISO 9409-1 31.5-4-M5
oR124000013 Blank
•Optional: Material numbers (adapter plate):
oR124000020 ISO 9409-1 50-4-M6
oR124000021 ISO 9409-1 40-4-M6
oR124000022 Blank
This documentation is intended for assembly personnel and service technicians.
Caution
This documentation contains important information for the proper and safe
installation and commissioning of the product.
This documentation, especially the section "Safety instructions", is to be read
completely before working with the product.
1.2 Structure of safety information
Hazard classification
The hazards that can occur at the machine are divided into the following classes:
•Danger
•Warning
•Caution
•Caution
Danger
This warning notice indicates a hazard with high risk. If the safety regulations are not observed, there
is a risk of death or severe injury.
Danger
Type and source of hazard
Hazard consequence
Remedy

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Warning
This warning notice indicates a hazard with moderate risk. If the safety regulations are not observed,
the hazard may result in death or serious injury.
Warning
Type and source of hazard
Hazard consequence
Remedy
Caution
This warning notice indicates a hazard with low risk. If the safety regulations are not observed, the
hazard may result in minor injuries.
Caution
Type and source of hazard
Hazard consequence
Remedy
Caution
This warning notice indicates a hazard with low risk. If the safety regulations are not observed, the
hazard may result in damage to property.
Caution
Type and source of hazard
Hazard consequence
Remedy
1.3 Abbreviations
The following abbreviations are used in this documentation:
Abbreviation Meaning
GUI Graphic User Interface
SFE Smart Flex Effector
1 Abbreviations

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Safety
2
en
2 Safety
2.1 Intended use
As a sensor-supported compensation element for robots and Cartesian systems, the SFE serves as a
process-related offset in the translations X, Y, Z and the rotations Rx, Ry, Rz.
Intended use also includes compliance with the applicable legal provisions and safety regulations, and
the operating, maintenance, and servicing requirements prescribed by the manufacturer.
Any use beyond this is considered improper. The manufacturer shall not be liable for damage resulting
thereof. Any associated risk shall be borne by the operator.
The SFE is intended for industrial and industry-related applications.
Within the meaning of intended use, the SFE is not a safety component.
2.1.1 The following applications are approved for the product:
•Flange-mounting to a handling system between the flange plate and a tool, such as a gripper.
•Integration into a machine/system or attachment to a robot. The applicable directives must be
observed and adhered to.
•The SFE may be used for passive compensatory movements and transfers of position.
•The SFE may be unlocked for the duration of handling process with active contact of tools and a
workpiece or device and during the necessary advancing and moving away processes. For transfer
journeys or general movements at higher speeds, the SFE must be operated in a locked state.
During these process stages, the status query of the locking state must be capable of ensuring that
the state is not changed unexpectedly.
•The SFE may only be used within the framework of its technical data. These must be safeguarded
using further measures, if applicable.
•The SFE may only be positioned vertically in the handling process (main axis "z" in the gravitational
direction).