GTE CoboSafe CBSF-XS User manual

Operating Manual
GTE Industrieelektronik GmbH
Helmholtzstr. 21, 38-40 | 41747 Viersen, GERMANY | [e-mail] | Tel. [phone] | www.gte.de
325-2810-015 EN11
EN
Force Gauge
CBSF-XS
CBSF-XS
Force and Pressure Measurement System

Operating manual: CoboSafe CBSF-XS
Document version: 325-2810-015 EN11
– Translation from German –
Manufacturer and publisher:
GTE Industrieelektronik GmbH
Helmholtzstr. 21, 38–40
41747 Viersen
Germany
Support hotline: [phone]
E-mail: [email protected]
© 2022 GTE Industrieelektronik GmbH – This document and all illustrations contained herein are protect-
ed by copyright and may not be copied and pasted, modified or distributed without the express consent of
the manufacturer!
Technical data is subject to change without notice!

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CoboSafe CBSF-XS 325-2810-015 EN11
PREFACE
This manual describes operation of the CoboSafe-CBSF-XS force measuring device. Please pay
particular attention to the information contained in chapter 1, “About this Manual.”
Before beginning work of any kind, read
this manual and the general safety instruc-
tions. Keep for later use!

TABLE OF CONTENTS
4CoboSafe CBSF-XS325-2810-015 EN11
Table of Contents
1 About this Manual .......................................... 6
1.1 Symbols and Warnings in this Manual ........................ 6
1.1.1 Warnings ........................................ 6
1.1.2 Explanation of Symbols ............................... 7
1.2 Appearance of Instructions ................................ 8
2 For your Safety ............................................ 9
2.2.1 Intended Use ...................................... 9
2.1 Qualification Required of Personnel .......................... 9
2.2 Responsibility of the Operator .............................. 9
3 Brief Description ...........................................10
4 Scope of Delivery ..........................................11
5 Signs and Labels ...........................................12
6 Informative Value of Measurement Results ...........................12
7 Design and Functioning.......................................13
7.1 CoboSafe-CBSF-XS force measuring device .....................13
7.2 Display .............................................14
7.3 Menu Navigation ......................................14
7.4 Setting Date and Time ...................................16
7.5 Luminous Sequences ....................................16
7.6 Display of Measured Values ...............................16
7.7 Damping Element K1 and Spring Rate K2 ......................16
8 Preparing for Measurement ....................................18
8.1 Safety When Preparing a Measurement .......................19
8.2 Defining Measurement Target ..............................19
8.3 Avoiding Damage to Device...............................19
8.4 Checking Force Measurement ..............................21
8.4.1 Testing Proper Functioning of Force Measuring Device . . . . . . . . . . . 21
8.5 Attaching Damping Element K1 .............................22
8.6 Affixing Pressure Measurement Film ..........................22
9 Performing Measurement ......................................23
9.1 Performing Measurement with the CBSF-XS .....................23
10 Transmitting Measured Data....................................24
10.1 Data Set CBSF-XS ......................................24
10.2 Wireless Data Transmission ...............................25
10.3 Transmission via USB Port.................................25

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CoboSafe CBSF-XS 325-2810-015 EN11
TABLE OF CONTENTS
11 Maintaining Functionality......................................25
11.1 Inspection and Cleaning .................................25
11.1.1 Checking and Cleaning Device ..........................26
11.1.2 Inspecting and Cleaning Damping Element K1 ................26
11.2 Charging Battery ......................................26
11.3 Replacing Battery ......................................27
11.4 Calibration ..........................................27
11.4.1 Inspection Date ....................................27
11.4.2 Calibration by a Certified Laboratory ......................27
11.4.3 Temperature/Humidity ................................27
11.4.4 K1 Damping Element .................................27
11.4.5 Spare Parts .......................................27
12 Properly Storing CBSF-XS......................................28
13 Detecting and Remedying Malfunctions ............................29
13.1 Firmware Update ......................................29
14 Technical Data ............................................30
14.1 Technical Data CoboSafe CBSF-XS ..........................30
14.2 Technical Data Accessories................................31
14.3 Requirements for Measurement Setup .........................31
14.4 Requirements for Temperature and Humidity Measurement ...........31
15 Customer Service ...........................................32
16 Disposal.................................................32
17 Appendix ................................................33

6CoboSafe CBSF-XS325-2810-015 EN11
ABOUT THIS MANUAL
1 About this Manual
This manual describes operation of the CoboSafe-CBSF-XS force measurement device. The
measuring method is part of a system and may be used only in conjunction with the following
components:
■Software CoboSafe-Vision
■CoboSafe-Scan
Carefully and thoroughly read this document and the documentation for all of the components
to be used to become familiar with the product before using it.
To prevent injury and damage to the product, pay particular attention to the associated docu-
ment “CoboSafe – General Safety Instructions” as well as to the safety and warning notes
in this document. Keep this documentation nearby to serve as a reference when needed. Pass
the documentation along to later users of the product.
■The operating manual with safety instructions is a component of the measuring
system and has to be stored near the measuring system, ensuring that it is
readily accessible to personnel at all times.
■Operating personnel must read the entire manual and be familiar with the
product before beginning any work.
■The fundamental requirement for working safely is consideration of all of the
safety and warning notes as well as following the instructions in this and all
related CoboSafe manuals.
■In addition, the local accident prevention regulations and general safety regu-
lations apply to the area of application of the measuring system.
The illustrations in this manual are intended to aid in fundamental understanding of the product.
They may deviate from the actual model.
1.1 Symbols and Warnings in this Manual
1.1.1 Warnings
Safety and warning notes in this manual are indicated by symbols. The safety and warning
notes are preceded by signal words indicating the extent of the hazard.
To prevent accidents, personal injury and property damage, comply with the safety and warn-
ing notes and proceed with caution.

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CoboSafe CBSF-XS 325-2810-015 EN11
ABOUT THIS MANUAL
Safety and warning notes
DANGER
This combination of symbol and signal word indicates an im-
mediately dangerous situation that will lead to death or severe
injuries if not avoided.
GEFAHR
WARNING
This combination of symbol and signal word indicates a possibly
dangerous situation that could lead to death or severe injuries if
not avoided.
CAUTION
This combination of symbol and signal word indicates a possi-
bly dangerous situation that could lead to minor injuries if not
avoided.
NOTICE
This signal word indicates a possibly dangerous situation that
could lead to property damage if not avoided.
1.1.2 Explanation of Symbols
The following symbols are used in this manual to emphasize instructions, results, lists, notes
and other elements.
Symbol Explanation
Introductory information relevant to safety
Helpful tips and recommendations as well as information to ensure effi-
cient and uninterrupted use
ZPrecedes instructions
1 ►
Step-by-step instructions. The instructions are numbered in the order of
the respective steps.
Results of steps
References to sections of this manual and to other applicable documents
List with no specific order

8CoboSafe CBSF-XS325-2810-015 EN11
ABOUT THIS MANUAL
1.2 Appearance of Instructions
The initial requirements in regard to personnel qualifications, personal protective equipment
(PPE), special tools and materials are different for each step/process.
It is imperative that the specified requirements for all instructions are met.
The following illustration shows an example of how a set of instructions is structured.
Explanation of illustration “Example of instructions”
1. A triangle precedes the title of instructions or a step to be performed.
2. Indicates the qualification required of personnel to be able to safely perform the action
described. In the above example, the person performing the task has to be a laboratory
scientist or a system integrator. For a description of the personnel qualifications, refer to
chapter “Requirements of Personnel” in the general safety instructions.”
ZInspect and clean CoboSafe CBSF-XS
Personnel Personal Protective Equipment
■Laboratory scientist
■System integrator
■Certified service personnel
■Protective gloves
■Safety shoes
Special Tools Materials
■Set of Allen keys ■Cleaning agent
■Soft, lint-free cloth
To provide reliable measured data, the measuring system has to
be regularly cleaned and inspected for external damage.
1 ►Place the measuring system on a free, flat surface.
 The measuring system rests securely and cannot fall off.
2 ►
Fig. 1: Example of instructions
2.
1.
3.
4. 5.
6.
7.
8.

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CoboSafe CBSF-XS 325-2810-015 EN11
FOR YOUR SAFETY
3. List of Personal Protective Equipment (PPE) required. In the above example, protective
gloves and safety shoes have to be worn; chapter “Personal Protective Equipment” in
the general safety instructions.
4. If necessary: List of special tools required. A set of Allen keys is needed to check and
clean the device.
5. If necessary: List of consumables required. In the example above, a cleaning agent and
a soft, lint-free cloth is needed.
6. Introductory note on why action is required and what has to be kept in mind.
7. Step in the set of instructions. Always perform the steps one after the other and as de-
scribed.
8. Result of the previous step.
ZAlways verify that the result is the same as what is described here.
2 For your Safety
The separate document “CoboSafe – General Safety Instructions” provides users with further
information and must also be observed.
2.2.1 Intended Use
CBSF-XS force measuring devices are used to determine the forces that occur in collisions with
collaborating robots. The forces are calculated in the device based on applicable standards
and publications. Refer to the “CoboSafe – General Safety Instructions,” chapter “Underlying
Standards and Information Material.” The software CoboSafe-Vision serves to visualize and
archive the saved measured data. The CBSF-XS may be used only for the purpose indicated
above.
2.1 Qualification Required of Personnel
Only qualified personnel may work with the measuring and test system to avoid serious physi-
cal injury or considerable damage to property. Qualified are persons who are familiar with the
commissioning and operation of robots. They must have the appropriate qualifications. They
must be able to assess the work assigned to them, identify possible sources of danger, and
take appropriate safety measures.
2.2 Responsibility of the Operator
Please read the chapter of the same name in the corresponding document "CoboSafe –
General Safety Instructions".

10 CoboSafe CBSF-XS325-2810-015 EN11
BRIEF DESCRIPTION
3 Brief Description
The CBSF-75-XS force measuring device is used to determine transient and quasistatic forces
of collaborating robots as well as to check biomechanical thresholds in human-robot collabo-
ratiown (HRC).
A highlight of the sturdy and precise CBSF-XS force measuring device is the compact design.
It is designed for applications where there are confined gaps in which to perform measure-
ments. The measuring mechanism in conjunction with the integrated electronics guarantees
an optimum measuring accuracy and reproducibility. The optical signaling device provides
information on the various operating modes, eliminating the need to observe the display. The
integrated memory saves the measured values and can accommodate 100 single measure-
ments. The transient and quasistatic values are shown on the display and can be transmitted
wirelessly or via USB port to CoboSafe-Vision.
Because the measuring tips are only 10 mm high, the CBSF-XS is especially well suited to
gripper applications. But it is also good for many other applications in which collisions near
the operator’s hand cannot be completely eliminated. The combination of spring rates and
damping materials simulates the biofidelic properties of human hands and fingers. The way
the force measuring device is designed enables it to be used as a hand-held or tabletop unit.
Its small size makes the CBSF-XS ideal when closing forces in gaps have to be measured.
Only the specified measuring equipment may be used to perform a measurement.
Measurement may not be performed when a configuration differs.