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!

3
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.

7
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.

9
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.

11
CoboSafe CBSF-XS 325-2810-015 EN11
SCOPE OF DELIVERY
4 Scope of Delivery
The CoboSafe-CBSF-XS measuring system consists of the following components:
1. Transport case
2. CBSF-XS
3. Articulated arm (optional),
mounting foot and handle included
4. Flash drive containing CoboSafe-Vision
5. USB charger with power pack
6. Document case (calibration certificate,
quick reference guide, calibration
sheet, microfiber cloth)
7. Power pack for scanner (optional)
8. Cable for Scanner (optional)
9. A5 Scanner (optional)
10. Charging cable
11. Fujifilm Prescale pressure measurement
films (2x, optional)
12. Damping element (K1)
4
3
5
6
2
1
7
8
10
9
11
12
Fig. 2: Scope of delivery

12 CoboSafe CBSF-XS325-2810-015 EN11
SIGNS AND LABELS
5 Signs and Labels
ID plate
The ID plate is affixed to the underside of the CBSF-XS force measuring device. The ID plate
shows the following information:
GTE Industrieelektronik GmbH
Helmholtzstraße 21, 38-40
D-41747 Viersen
CBSF-XS







■Device type Article
number
■Serial number
■Temperature range
■Year of manufacturing
■Spring rate
■Maximum force
■Input
■CE label
Inspection date
A label on the underside of the measuring device indicates when the manufacturer has to next
inspect and calibrate the device. The year printed on the label is the year in which the next
inspection is due. The month is indicated by the circle in which a month can be punched out.
11
22
33
44
55
66
77
88
99
1010
1111
1212
20xx20xx
6 Informative Value of Measurement Results
The informative value of the results of specific applications is limited exclusively to the specific
contact situation measured. The measuring device shows only the forces. The measured values
can only be interpreted completely using the software CoboSafe-Vision and a pressure mea-
suring process.
Fig. 3: ID plate
Fig. 4: Inspection date

13
CoboSafe CBSF-XS 325-2810-015 EN11
DESIGN AND FUNCTIONING
7 Design and Functioning
7.1 CoboSafe-CBSF-XS force measuring device
■Measuring tip [1]
■Optimal force application point [2]
■Display [3]
■Pushbutton [4]
■USB port [5]
■Light ring [6]
■Inspection date [7]
■ID plate [8]
■Base plate [9]
3
1
2
5
6
4
7
8
9
Fig. 5: Design and functioning

14 CoboSafe CBSF-XS325-2810-015 EN11
DESIGN AND FUNCTIONING
7.2 Display
■Charge level [1]
■Charging display [2]
■Time [3]
■Measurement number [4]
■Measured value display [5]
■Command line [6]
7.3 Menu Navigation
The device is operated by pressing the button on the top of the device briefly or for a longer
time.
■Short press: Switch between menus and submenus.
■Long press: Open menu; confirm selection; exit menu.
Switch on:
■Long press: CBSF-XS starts up when the button is released.
Operating mode:
If the CBSF is switched on, touch the button briefly to start a measurement.
■Short press: Activate next measuring (in “manual” mode)
■Long press: Menu opens in “Shutdown” option (switch off).
■Long press: Switch off CBSF-XS
(Device switches off automatically after 45 min.).
Open menu:
■Long press: Switch on CBSF-XS.
■Long press: Menu opens in “Shutdown” option.
■Short press: Move to the next menu.
■Long press: Move to the submenu.
■Short press: Switch between the options in the submenu.
■Long press: Select the option and exit the submenu.
1
2
5
6
4
3
Fig. 6: Home screen

15
CoboSafe CBSF-XS 325-2810-015 EN11
DESIGN AND FUNCTIONING
Menu list and functions
Menu Submenu Function
Switches off CBSF-XS
Manual Press the button to activate measurement.
Measurement begins when force reaches
F > 20 N.
Auto Measurement begins automatically when force
reaches F > 20 N
On Switches on wireless transmission
Off Switches off wireless transmission
Cancel Cancels deleting
All Data Deletes all saved measurements
SVN:
S/N:
WL:
Firmware version
Serial number of CoboSafe CBSF-XS
Wireless ID
Temp.:
Humidity:
Temperature display
Humidity display
Bat. V:
Bat. A:
Battery voltage in V
Battery voltage in mA
Capacity:
Free:
Used:
Last ID:
Capacity of memory (quantity of measurements)
Number of measurements still possible
Number of measurements performed
Last measurement number (ID)
Exits menu and go to operating mode

16 CoboSafe CBSF-XS325-2810-015 EN11
DESIGN AND FUNCTIONING
7.4 Setting Date and Time
The date and time are set using the CoboSafe-Vision software, see Operating Manual of
CoboSafe-Vison. Manual entry of the time is not possible.
7.5 Luminous Sequences
Luminous Sequence Description
Runs around once counterclockwise Device is starting up
Runs around once clockwise Device is shutting down
Illuminated ring Waiting for trigger
LED breathing Measurement in process
Two seconds continuous illumination Measurement completed
Flashes three times Device connected
Flashes three times Device disconnected
7.6 Display of Measured Values
When measurement is completed, the CoboSafe CBSF-XS shows the measured values in the
display.
■Ft = Maximum transient force [1]
■Fs = Maximum quasistatic force [2]
■Current measurement number [3]
7.7 Damping Element K1 and Spring Rate K2
The compression properties of e.g., muscle tissue to fat tissue or to surfaces of the body less
covered, such as fingers, differ. The biofidelic property in regard to pain perception and to the
risk of injury differs as well. The body resistance must also be taken into account.
1
2
3
Fig. 7: Display of measured values

17
CoboSafe CBSF-XS 325-2810-015 EN11
DESIGN AND FUNCTIONING
Biodelic setup
To create a biomechanical or biofidelic setup, specified compression elements K1
and K2 have to be used.
■The damping elements K1 simulate the biomechanical property of body
surfaces.
■The spring rate K2 simulates the biofidelic body resistance.
The damping element K1 is classified applying Shore hardness. With the CBSF-XS, a red
damping element with 70 Shore A is used.
The Shore hardness of the K1 damping element can change over time. The manufacturer rec-
ommends replacing it in the course of the calibration service after one year.
If the K1 damping elements are exposed to unusual conditions, e.g., high ambient tempera-
tures, high humidity or contact with liquids containing solvents, they may need to be replaced
sooner.
Damping Element (K1):
Measuring surface
Spring for pressure
measurement film
The damping element has a metal wedge for force transmission. The wedge is embedded in
the damping material. It ensures the best possible force application at the optimal measuring
point. The optimal point is marked by a cross, see illustration on the next page. A color sensor
in the CBSF-XS detects the damping element.
Fig. 8: Damping element

18 CoboSafe CBSF-XS325-2810-015 EN11
PREPARING FOR MEASUREMENT
8 Preparing for Measurement
The CBSF-XS is the fundamental device for force and pressure measurements. The measuring
device is positioned at the collision points determined for the application.
The additional damping element K1 is placed on the measuring surface, when this is defined
in the test specification and included in the configuration of the measurement plan.
Keep in mind that the CBSF-XS has to acclimate to the surroundings for at least two
hours before beginning operation.
Spring for pressure
measuring film
Optimal measuring point
Mounting hole for
damping element
Damping element K1
Fig. 9: Preparing for measurement

19
CoboSafe CBSF-XS 325-2810-015 EN11
PREPARING FOR MEASUREMENT
8.1 Safety When Preparing a Measurement
CAUTION
Clamping point
The clamping point is located in the red shaded area, between
the measuring surface and the measuring body (Refer to illustra-
tion below). During measurement, fingers or other body parts can
be pinched here.
■Always hold the device on the body, never on the measur-
ing tip.
■Use auxiliary equipment when the device cannot be safely
held by hand.
Otherwise crush injuries can occur.
Clamping point
8.2 Defining Measurement Target
The collision scenarios have to be defined before measurement begins. Body zones where
potential collisions between robot work site personnel and robots have to be identified. The
collision positions and collision vectors result from the determined scenarios for which collision
measurement has to be performed.
8.3 Avoiding Damage to Device
NOTICE
Property damage resulting from high collisions speeds,
forces and pressures!
■Combine only measuring devices such as those described
in this manual.
If upon collision the robot exceeds the application limits of the
force and pressure sensors, the measurement system can sustain
damage.
Fig. 10: Clamping point

20 CoboSafe CBSF-XS325-2810-015 EN11
PREPARING FOR MEASUREMENT
How to design collision path:
Personnel Personal Protective Equipment (PPE)
■Laboratory scientist
■System integrator
■Robot operator
■PPE prescribed by robot manufacturer
Specifying the robot parameters determines the robot’s collision kinematics. The parameters
have to be set in accordance with the target of measurement.
►Carefully plan adjustment of robot parameters.
■The vector of robot motion runs normal to the measuring surface of the sensor.
■The vector of robot motion hits the center of the measuring surface.
►Test collision motion without the force measuring device in place.
►First operate at significantly reduced speed and then slowly approach realistic collision
conditions.
Test measurement of parameters
The determined parameters have to be checked with a test measurement. They
may require repeated adjustment.
Measuring
surface (hatched)
Optimal force
application point
Fig. 11: Force application point