GTE COBOSAFE CBSF User manual

Operating Manual
GTE Industrieelektronik GmbH
Helmholtzstr. 21, 38-40 | 41747 Viersen, GERMANY | [e-mail] | Tel. [phone] | www.gte.de
325-2810-012US15
EN
Force Gauges
CoboSafe-CBSF
CoboSafe-CBSF
Force and Pressure Measurement System

Operating manual: CoboSafe-CBSF
Document version: 325-2810-012US15
– 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 therein are protec-
ted by copyright and may not be removed, altered or distributed without the express consent of the
manufacturer!
Technical changes reserved!

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CoboSafe-CBSF 325-2810-012US15
PREFACE
This operating manual describes the operation of the CoboSafe-CBSF force measuring de-
vices. The measuring method is part of a system and can only be used in conjunction with the
following components:
■CoboSafe-Vision
■CoboSafe-Scan
■CoboSafe-Tek
Before beginning work of any kind, read
this manual and the general safety instruc-
tions. Keep for later use!
Pay particular attention to the associated document "CoboSafe – General Safety Instructions"
and the safety instructions and warnings in this document to prevent injuries and product da-
mage.
Keep this documentation at hand so that you can look it up if necessary. Share this documen-
tation with future users of the product.
Associated with this manual is the document:
■CoboSafe – General Safety Instructions

Table of Contents
4CoboSafe-CBSF325-2810-012US15
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
2.1 Intended Use ......................................... 9
2.2 Qualification Required of Personnel .......................... 9
2.3 Responsibility of the Operator .............................. 9
2.4 Residual Risk When Using CoboSafe-CBSF Force Gauges ...........10
3 Brief Description ...........................................11
4 Scope of Delivery ..........................................11
5 Sings and Labels ...........................................12
6 Informative Value of the Measurement Results ........................13
7 Structure and Function CoboSafe-CBSF ............................15
7.1 CoboSafe-CBSF-Force Sensors .............................15
7.2 Display .............................................16
7.3 Menu Navigation ......................................16
7.4 Setting the Date and Time.................................18
7.5 Measured Value Display .................................18
8 Structure and Function CoboSafe CBSF- Basic ........................19
8.1 CoboSafe CBSF-Basic ...................................19
8.2 Menu Navigation CBSF-Basic ..............................19
9 Damping Element K1 and Spring Rate K2...........................22
10 Preparing for Measurement ....................................23
10.1 Safety When Preparing a Measurement .......................23
10.2 Defining Measurement Target ..............................25
10.3 Preparing the Measurement Environment .......................25
10.4 Robot Parameters ......................................27
10.5 Checking the Components ................................28
10.5.1 Testing Proper Functioning of Force Sensor...................29
10.5.2 Checking and Cleaning the Collision Surface of the Robot ........30
10.6 Attach CoboSafe CBSF to Contact Surface .....................30
10.6.1 Attaching Mounting Adapter to contact surface ................30
10.6.2 Attach CoboSafe-CBSF to Mounting Adapter .................31
10.7 Mounting the K1 Damping Element ..........................32
10.8 Applying Pressure Measuring Film ...........................33

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CoboSafe-CBSF 325-2810-012US15
Table of Contents
11 Performing Measurement ......................................33
11.1 Performing a Measurement with the CoboSafe-CBSF ...............34
12 Transmitting Measured Data CoboSafe-CBSF ........................36
12.1 Transmitting Measured Data CoboSafe-CBSF-Basic ............36
12.2 Wireless Data Transmission ...............................36
12.3 Transmission via USB Port.................................36
13 Maintaining Functionality......................................37
13.1 Maintenance Schedule ..................................37
13.2 Checking and Cleaning..................................37
13.2.1 Checking and Cleaning CoboSafe-CBSF ...................38
13.2.2 Inspecting and Cleaning Compression Elements K1 .............38
13.3 Recharging Batteries ....................................39
13.4 Replacing Batteries .....................................39
13.5 Calibration ..........................................39
13.5.1 CoboSafe-CBSF Inspection Date .........................39
13.5.2 Calibration by a Certified Laboratory ......................39
13.5.3 Temperature/Humidity ................................40
13.5.4 K1 Damping elements ................................40
13.5.5 Spare Parts .......................................40
13.5.6 Firmware Update ...................................40
14 Properly Storing CoboSafe-CBSF ................................40
15 Detecting and Remedying Malfunctions ............................41
16 Technical Data ............................................42
16.1 Technical Data Force Sensor CoboSafe-CBSF ...................42
16.2 Technical Data CoboSafe CBSF-Basic ........................43
16.3 Technical Data Accessories................................45
16.4 Requirements for Measurement Setup .........................45
16.5 Requirements for Temperature and Humidity Measurement ...........45
17 Costumer Service ...........................................46
18 Disposal.................................................46
18.1 Disposal by the Manufacturer ..............................46
19 Appendix: Dimension drawing mounting adapter: .....................47

ABOUT THIS MANUAL
6CoboSafe-CBSF325-2810-012US15
1 About this Manual
This manual describes operation of the CoboSafe-CBSF force measurement device. The mea-
suring method is part of a system and may be used only in conjunction with the following
components:
■Software CoboSafe-Vision
■Pressure Measurement Set CoboSafe-Scan
■Pressure Measurement CoboSafe-Tek
Carefully and thoroughly read this document and the documentation for all of the systems 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
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 325-2810-012US15
ABOUT THIS MANUAL
Warnings
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 injury if
not avoided.
CAUTION
This combination of symbol and signal word indicates a pos-
sibly 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
Lists with no specific order

ABOUT THIS MANUAL
8CoboSafe-CBSF325-2810-012US15
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.”
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
ZInspect and clean CoboSafe CBSF-75
Personnel Personal Protective Equipment
■Laboratory scientists
■System integrators
■Protective gloves
■Safety shoes
Special Tools Material
■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 measurement system on a free, flat surface
 The measurement system rests securely and cannot fall off.
2 ►...
Fig. 1: Example of instructions
3.
5.
2.
1.
4.
6.
7.
8.

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CoboSafe-CBSF 325-2810-012US15
FOR YOUR SAFETY
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.
2.1 Intended Use
CoboSafe-CBSF force gauges (hereinafter also referred to as force sensors) are used to deter-
mine the forces occurring in collisions with collaborating robots. The force values are calculated
in the device based on the underlying standards and publications. Please observe the instruc-
tions for use part 'CoboSafe – General Safety Instructions', chapter 'Underlying standards
and information leaflets'. The CoboSafe-Vision software is used to visualize and archive the
stored measurement data. CoboSafe-CBSF may only be used for this purpose.
2.2 Qualication 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. The separate document “CoboSafe – General Safety
Instructions” must also be observed.
2.3 Responsibility of the Operator
Please read the chapter of the same name in the corresponding document "CoboSafe –
General Safety Instructions".

FOR YOUR SAFETY
10 CoboSafe-CBSF325-2810-012US15
2.4 Residual Risk When Using CoboSafe-CBSF Force Gauges
Please read the chapter "Residual risks" in the corresponding document "CoboSafe – General
Safety Instructions".
Attention!
The measurement setup must meet requirements regarding stiffness and at the same
time guarantee stability. Therefore, hard and stiff components must be used, which
must be firmly connected to each other. Depending on the measurement setup,
burrs, corners and edges can cause cut and impact injuries, for example when
using aluminum profiles. Falling or tilting components of the measuring setup can
cause injuries.
GEFAHR
WARNING
Dangerous measurement setup
Risk of injury due to improperly erected measurement setup!
■Establish measurement setup only with deburred compo-
nents.
■Upholster corners and edges.
■Secure measurement setup against unauthorized access.
■Wear specified protective equipment.
■Secure the measurement setup against tilting.
If the measurement setup is established using sharp edged com-
ponents or has sharp corners, this can result in cuts and impact
injuries. Tilting parts of the measurement setup (e.g., due to low
stability) can cause impact and crushing injuries.
GEFAHR
WARNING
Falling components
Risk of injury from dropping or dropping components!
■Keep order in the workplace.
■Keep work surfaces free for assembly and storage of
components.
■After use, store unused components as described in this
manual.
■Handle all components with care.
■Always hold the force sensors at the side for lifting and
positioning and make sure that the display and switch are
not touched.
■Wear specified personal protective equipment.
Some components of the measuring system are heavy and hard.
If force sensors, mounting adapters, transport cases, film rolls
or the scanner are dropped, severe injuries up to crushing and
bone fractures can result.

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CoboSafe-CBSF 325-2810-012US15
BRIEF DESCRIPTION
3 Brief Description
The CoboSafe CBSF force gauges accurately check the permissible load thresholds for work-
places with human-robot collaboration (HRC). The handy devices are characterized by their
small design, which allows easy integration of the force sensors into measurement setups - even
in confined spaces. The device evaluates the force measurement, and the result is stored with
the metadata ID, date and time. A wireless data connection can be established for data
transmission. K1 damping elements are automatically detected by the CBSF, it also measures
temperature and humidity.
Attention
Only the specified measuring equipment may be used to perform a measurement.
Measurement may not be performed when a configuration differs.
4 Scope of Delivery
1
CoboSafe-CBSF or CBSF-Basic
1
2
3
4
57
6
32
456
The CoboSafe-CBSF system consists of the following components:
■Force sensors from the product series CBSF [1]
■K1 damping elements [2]
■Mounting adapter [3]
■USB charger with power cord [4]
■Transport case [5]
■USB flash drive containing CoboSafe-Vision software [6]
■Thermo-hygrometer (only for CoboSafe CBSF-Basic) [7]
Fig. 2: Scope of delivery

SINGS AND LABELS
12 CoboSafe-CBSF325-2810-012US15
5 Sings and Labels
The following markings shall be affixed to the CoboSafe CBSF:
CAUTION
Danger of Crushing
The sign indicates a danger of crushing hands and fingers. Ne-
ver touch the force sensor during measurement.
Type plate
The type plate is attached to the side of the CoboSafe-CBSF force sensor. The type plate
contains the following data:
■Device type
■Spring constant (Spring Rate)
■Maximum Force
■Temperature range (Temp)
■Year of manufacturing (Year of M)
■Article number (Art.-Nr.)
■Serial number (Serial)
■Charging voltage
(input)
■CE label
The numerical appendix for the type designation corresponds to the indi-
cation of the spring constant.
Example: CBSF-150 = Force sensor with 150 N/mm spring constant.
Abb. 4: Type plate
Fig. 3: danger of crushing

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CoboSafe-CBSF 325-2810-012US15
INFORMATIVE VALUE OF THE MEASUREMENT RESULTS
Inspection Date
A label on the side of the measuring device indicates when the device has to be inspect
and calibrate by the manufacturer. 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.
Fig. 5: Label "Inspection Date"
This example shows a sticker that requires calibration in February 2018.
6 Informative Value of the Measurement Results
The informative value of the results is limited exclusively to the specific contact situation
measured. The values shown in the display of the CoboSafe-CBSF are not sufficient for an
evaluation alone. The measured values can only be interpreted completely using the software
CoboSafe-Vision and a pressure measuring process (CoboSafe-Tek or CoboSafe-Scan).
Selection of Measuring Points
Information on the "Selection of measuring points" can be found in the chapter
of the same name in the corresponding document "CoboSafe – General Safety
Instructions".

INFORMATIVE VALUE OF THE MEASUREMENT RESULTS
14 CoboSafe-CBSF325-2810-012US15
Qualitative curve of an impact force
■Ft maximum transient force [N] [1]
■Fs maximum quasistatic force [N] [2]
■Quasistatic limit for relevant body region [3]
■Transient limit for relevant body region [4]
■Permitted force and pressure range [5]
2
1
4
3
5
Fig. 6: Curve of an impact force

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CoboSafe-CBSF 325-2810-012US15
STRUCTURE AND FUNCTION COBOSAFE-CBSF
7 Structure and Function CoboSafe-CBSF
7.1 CoboSafe-CBSF-Force Sensors
■Measuring body [1]
■Measuring plate [2]
■Display [3]
■Pushbutton on rear panel [4]
■Base plate [5]
■Handle surfaces [6]
■Holder and mounting option for adapter. Threaded hole M4 x 8 mm. [7]
Dimensioned drawing of the base plate
A dimensioned drawing of the base plate can be found in the appendix.
7
6
6
5
14
2
3
Fig. 7: CoboSafe-CBSF

STRUCTURE AND FUNCTION COBOSAFE-CBSF
16 CoboSafe-CBSF325-2810-012US15
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
CBSF is operated by pressing the button on the back of the device briefly or for a longer time.
■Short keypress: Switch between menus and submenus
■Long keypress: Open menu; confirm selection; exit menu.
Switch on:
■Long keypress: CoboSafe-CBSF starts up when the pushbutton is released.
Operating mode:
When switched on, the CoboSafe-CBSF is immediately ready for measurement (REC). After the
measurement has been completed, the results are displayed.
■Short keypress: Activate next measurement (in 'manual' mode).
■Long keypress: Menu opens in option 'Shutdown'.
■Long keypress: Switch off CoboSafe-CBSF (Device switches off after 45 minutes auto-
matically)
Open menu:
■Long keypress: Switch on CoboSafe-CBSF.
■Long keypress: Menu opens in option 'Shutdown'.
■Short keypress: Move to the next menu.
■Long keypress: Switch to the submenu.
■Short keypress: Switch between the options in the submenu.
■Long keypress: Select the option and exit the submenu.
1
2
5
6
3
4
Fig. 8: Starting display

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CoboSafe-CBSF 325-2810-012US15
STRUCTURE AND FUNCTION COBOSAFE-CBSF
Menu list and functions
Menu Submenu Function
Switches off CoboSafe-CBSF
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 the wireless transmission
Off Switches off wireless transfer transmission
Cancel Cancels deleting
All Data Deletes all stored measurements
SVN:
S/N:
WL:
Firmware Version
Serial number of CoboSafe-CBSF
Wireless ID
Temp.:
Humidity:
Temperature display
Humidity display
Bat. V:
Bat. A:
Battery voltage in Volt
Battery consumption in mA
Capacity:
Free:
Used:
Last ID:
Capacity of the memory (quantity of measurements)
Number of measurements still possible
Number of measurements performed
Last measurement number (ID)
Exits menu and switch to operating mode

STRUCTURE AND FUNCTION COBOSAFE-CBSF
18 CoboSafe-CBSF325-2810-012US15
7.4 Setting the Date and Time
The date and time are set using the CoboSafe-Vision software. Before first use, connect the
CBSF devices to the PC and start the software. Use the 'CBSF Sync.' function to program and
update. Follow the instructions in CoboSafe-Vision to synchronize the date and time.
7.5 Measured Value Display
The CoboSafe-CBSF force sensor outputs the measured values in the display after the measu-
rement has been completed:
■Ft = maximum transient force[1]
■Fs= maximum quasistatic force [2]
■Number of the current measurement [3]
1
2
3
Fig. 9: Measured value display

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CoboSafe-CBSF 325-2810-012US15
STRUCTURE AND FUNCTION COBOSAFE CBSF- BASIC
8 Structure and Function CoboSafe CBSF- Basic
8.1 CoboSafe CBSF-Basic
8.2 Menu Navigation CBSF-Basic
■Measuring Surface [1]
■Enclosure [2]
■Display [3]
■Softkeys [4]
■Handgrip [5]
■Battery Compartment [6]
The force sensor is operated via 3 softkeys
each, which can be assigned different func-
tions in each menu.
In the following menu trees, the softkeys are la-
beled F1, F2 and F3.
Pressing the designated softkey executes a
function, switches between setting options or
navigates in menus.
Fig. 10: CBSF-Basic
Fig. 11: Menu Navigation CBSF-Basic

DAMPING ELEMENT K1 AND SPRING RATE K2
20 CoboSafe-CBSF325-2810-012US15