Festo EHPS A-RA1 Series User manual

Translation of the original instructions
© 2020 all rights reserved to Festo SE & Co. KG
1 About this document
1.1 Applicable Documents
All available documents for the product èwww.festo.com/sp.
1.2 Product labelling
Warning symbols on the product
Symbol Meaning
General warning indicator:
The symbol means a hazardous area and that the operating instructions must be
read and observed.
Tab. 1 Warning symbols on the product
2 Safety
2.1 Safety instructions
– Observe labelling on the product.
– Prior to assembly, installation and maintenance work: Switch off power sup
ply, ensure that it is off and secure it against being switched back on.
– The occurrence of a failure could lead to unforeseeable movements if the
product is connected with the power supply. Only operate the product once
protective measures have been taken against mechanical hazards to body
parts.
– Store the product in a cool, dry, UVprotected and corrosionprotected envir
onment. Ensure that storage times are kept to a minimum.
– Observe tightening torques. Unless otherwise specified, the tolerance is
±20%.
– This product can generate high frequency malfunctions, which may make it
necessary to implement interference suppression measures in residential
areas.
2.2 Intended Use
The product is used as intended for integration into the UR software and hardware
connection for carrying out handling tasks of payloads. The customer designs and
attaches customised gripper fingers for use on the parallel gripper.
The gripper fingers are not included in the delivery.
Use the product only as follows:
– In perfect technical condition
– In its original condition, without unauthorised modifications
– Within the limits of the product defined by the technical data
– In the industrial sector, in research laboratories, in assembly areas, in series
and special machines
– Permanently mounted
2.3 Training of qualified personnel
Installation, commissioning, maintenance and disassembly should only be con
ducted by qualified personnel. The qualified personnel must be familiar with
installation of electrical control systems.
3 Service
Contact your regional Festo contact person if you have technical questions
èwww.festo.com.
4 Structure
1Position transmitter
2Parallel gripper
3Threaded bolt (2x M4, 2x M6)
4Socket head screw (4x)
5Threaded pin (2x)
6Adapter plate
7Cylindrical pin
8Robot flange
9Connecting cable for parallel grip
per
10 Connecting cable for position
transmitter
11 Velcro strap
12 USB memory stick
Fig. 1 Parts overview
5 Mechanical assembly
1. Position the cylindrical pin 7 on the adapter plate 6 and press it into the
stop.
2. Screw the threaded pins 5 into the threaded holes of the adapter plate 6.
3. Position the adapter plate 6 with the cylindrical pin 7 on the robot flange
8, press in and tighten with socket head screws 4. Tightening torque: 8 Nm
4. Screw the threaded bolt 3 into the parallel gripper.
EHPS-...-A-RA1 Threaded bolt 3Tightening torque [Nm]
16/20 M4 3
25 M6 10
Tab. 2 Threaded bolt
5. Insert the parallel gripper with the mounted threaded bolts into the adapter
plate 6 and tighten the threaded pins 5. Tightening torque: 3 Nm
Gripper finger
The gripper fingers are not in the scope of delivery. For the specifications of the
gripper fingers, see the user documentation for the parallel gripper.
6 Installation
6.1 Electrical installation
WARNING!
Risk of Injury due to electric shock.
• For the electric power supply, use SELV or PELV circuits that guarantee a rein
forced isolation from the mains network.
WARNING!
Risk of injury due to electric shock or burns.
The gripper does not offer any additional protection against unintended high cur
rents in the supply cables.
• The cross section of the supply cables should be designed to meet the max
imum current value that could occur in the event of a failure.
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
8136071
EHPS-...-A-RA1
Parallel gripper kit for robots
8136071
202005a
[8136073]
Operating instructions
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
[phone]0
www.festo.com

Fig. 2 Electrical Installation
1. Push the position transmitter 1 into the groove of the parallel gripper and
fasten it. The position transmitter is adjusted during the software configura
tion.
2. Connect the position transmitter with the included connecting cable aJ.
3. Connect the parallel gripper with the included connecting cable 9.
Installing connecting cables
Fig. 3 Installing connecting cables
The connecting cables are attached to the outside of the robot arm with the sup
plied Velcro straps.
Observe the prescribed bending radii of the connecting cables.
The freedom of movement of the robot must not be restricted by the connecting
cables.
1. Cut the Velcro straps to length.
2. Lay connecting cables along the robot arm.
3. Fasten the connecting cables with Velcro straps.
Connection to control cabinet
1. Guide both connecting cables neatly into the control cabinet.
2. Connect the connecting cables according to the following table:
Insu-
lated
wire1)
Parallel gripper - control cabin-
et
NEBU-M12G5-K-5-LE4
Position transmitter - control
cabinet
NEBU-M8G4-K-5-LE4
1 BN Digital Inputs 24V Digital Inputs 24V
2 WH Digital Outputs DO0 Analog Inputs AG
3 BU Digital Outputs 0V Digital Outputs 0V
4 BK Digital Outputs DO1 Analog Inputs AI0
5 GY not assigned not assigned
1) Wire colour when using connecting cables in accordance with accessories èwww.festo.com/cata
logue
Tab. 3 Pin allocation for connecting cables
6.2 Software installation
The software must be installed manually from the included USB memory stick.
The USB memory stick has the following data:
– URCap
– User documentation
System requirements for hardware and software:
• Robot UR3/UR5/UR10: from software version PolyScope CB 3.8.0
• Robot UR3e/UR5e/UR10e/UR16e: from software version PolyScope SW 5.2.0
Always use the current software version èwww.festo.com/sp
Older software versions may have a different appearance from this user docu
mentation.
1. When the system is started, insert the USB memory stick into the control unit.
2. Press the "Menu" button at the top right of the header.
3. Select "Settings" menu item.
4. Select the "URCaps" button in the menu item "System".
5. Press the "+" button at the bottom left.
6. Select and open the "FestoGripperEHPSURCapX.X.X.urcap" file.
X.X.X corresponds to the version number of the software e.g. 1.0.4
7. Press the "Restart" button at the bottom right.
ÄThe URCap is installed and can be used.
Fig. 4 Sample settings
7 Configuration of the software
Parallel gripper configuration
1Selection of size
2Default values
3Activate/deactivate URCap logging
4Activate/deactivate URCap
Fig. 5 Parallel gripper configuration
1. Select the size 1 of the parallel gripper.
2. Observe default values 2. Adjustments are necessary if the components
were wired differently.
3. Adjust the position transmitter. The LED must be on at both end positions. It
is not necessary to initialise the position transmitter è, see enclosed docu
mentation.
4. Press the "Adjust Endpositions" button.
ÄThe parallel gripper opens and closes once. The configuration of the par
allel gripper is completed as soon as the green check mark appears.

Workpiece configuration
Fig. 6 Workpiece configuration
1. Selection of stored workpieces 1.
2. Create new workpieces in the list 2 or delete workpieces from the list 3.
3. Selection of the gripper tolerance 5 to evaluate the gripping result:
– Workpiece width constant è"small"
– Workpiece width with low variance è"medium"
– Workpiece width with high variance è"large"
4. Input workpiece weight 4.
5. When the 6 function is activated, the parallel gripper moves depending on
the gripping mode
– internal gripping: 1x open
– external gripping: 1x closed
If the start position of the parallel gripper is wrong, the user is guided through
the "Teach" function by dialogue.
The function is used to determine the correct gripping position. This requires
gripping a reference object.
6. The preset values can be tested by the "Grip" and "Release" functions. The
user is guided through the function by a dialogue.
Documentation
Information on installation of the software and the technical data of the parallel
gripper.
Fig. 7 Documentation
The weight Tool Center Point (TCP) and the weight settings are configured via the
"General" menu. The gripper fingers provided by the customer must be included
in the weight settings.
Toolbar for manual control of the parallel gripper
After the electrical installation, the functions of the parallel gripper can be tested
manually. Test the functions by pressing the "UR+" button and execute the
"Open" and "Close" commands.
Fig. 8 Toolbar for manual control of the parallel gripper
Integration of "Grip" and "Release" program commands
Fig. 9 Integrating program commands
1. Place 1 "Grip" and "Release" program commands anywhere in the program.
2. Workpiece selection 2.
3. The functions of the parallel gripper can be tested manually 3.
4. Gripping result successful/faulty 4
ÄOption for inserting additional program commands.
8 Cleaning
• Clean the outside of the product with a soft cloth. Do not use aggressive
cleaning agents.
9 Disassembly
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional
movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
10 Disposal
ENVIRONMENT!
Send the packaging and product for environmentally sound recycling in accord
ance with the current regulations èwww.festo.com/sp.
11 Technical data
Size 16 20 25
Robot UR3/UR5/UR10: from software version Poly
Scope CB 3.8.0
Robot software version
Robot UR3e/UR5e/UR10e: from software version Poly
Scope SW 5.2.0
Product weight (moving
mass)
[g] 400 630 1000
Tab. 4 Technical data, general