GTE CoboSafe-Scan User manual

Operating Manual
GTE Industrieelektronik GmbH
Helmholtzstr. 21, 38-40 | 41747 Viersen, GERMANY | [e-mail] | Tel. [phone] | www.gte.de
325-2810-013US13
EN
Pressure Measurement Set
CoboSafe-Scan
CoboSafe-Scan
Force and Pressure Measurement System

Operating Manual: CoboSafe-Scan
Document version: 325-2810-013US13
– 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-Scan 325-2810-013US13
PREFACE
This operating manual describes the pressure measurement procedure CoboSafe-Scan and its
handling. The measuring method is part of a system and can only be used in conjunction with
the following components:
■Software CoboSafe-Vision
■Force gauge from the CoboSafe-CBSF product series
Before beginning work of any kind, read
this manual and the general safety instruc-
tions. Keep for later use!
Pay special attention to the associated document "CoboSafe – General Safety Instructions" as
well as the safety instructions and warnings in this document to prevent injuries and product
damage. In addition, please observe the information on the functioning and storage of the
original instruction manual of Fuji Prescale film. Keep this documentation handy for future refe-
rence. Share this documentation with future users of the product.
Associated with this manual is also the document:
■CoboSafe – General Safety Instructions

Table of Contents
4CoboSafe-Scan325-2810-013US13
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 Sensors ...........10
3 Brief Description ...........................................11
4 Scope of Delivery ..........................................11
5 Updates und Upgrades .......................................12
6 Description of the Components ..................................12
6.1 Information about the Pressure Measuring Films...................12
6.1.1 Safety-Relevant Information .............................13
6.1.2 Durability.........................................14
6.1.3 Storage..........................................14
6.2 Calibration Element.....................................15
6.3 Special Scanner .......................................15
6.4 Microfiber Cloth .......................................15
7 Quantification of the Measurement Data............................16
7.1 Calibration ..........................................16
8 Preparing for Measurement ....................................16
8.1 Tools and Consumables ..................................16
8.2 Selecting Suitable Pressure Measurement Films . . . . . . . . . . . . . . . . . . . 17
8.3 Checking and Cleaning..................................17
8.3.1 Cleaning the Scanner ................................18
8.3.2 Checking Pressure Measurement Film ......................18
8.3.3 Checking and Cleaning the Collision Surface of the Robot ........18
8.4 Cutting the Pressure Measurement Film to Size ...................19
8.5 Applying the Pressure Measurement Film . . . . . . . . . . . . . . . . . . . . . . . 19
9 Performing Measurement ......................................20
10 Transferring Measurement Data..................................22
10.1 Temperature and Humidity ................................23
11 Detecting and Remedying Malfunctions ............................23

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CoboSafe-Scan 325-2810-013US13
Table of Contents
12 Technical Data ............................................24
12.1 Requirements for Temperature and Humidity Measurement ...........24
13 Costumer Service ...........................................25
14 Disposal.................................................25
14.1 Disposal by the Manufacturer ..............................25

ABOUT THIS MANUAL
6CoboSafe-Scan325-2810-013US13
1 About this Manual
This manual describes the pressure measurement procedure CoboSafe-Scan and its handling.
The measuring method is part of a system and can only be used in conjunction with the follo-
wing components:
■Software CoboSafe-Vision
■CoboSafe-CBSF (and variants)
Read this documentation carefully and familiarize yourself with the product before using it.
Pay special attention to the associated document  "CoboSafe – General Safety Instructions"
as well as the safety instructions and warnings in this document to prevent injuries and product
damage. In addition, please observe the information on the functioning and storage of the
original instruction manual of Fujifilm Prescale film. Keep this documentation handy for future
reference. Share this documentation with future 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.
Illustrations in this manual are intended to provide a basic understanding and may differ from
the actual design.
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-Scan 325-2810-013US13
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 en-
sure efficient and uninterrupted use
ZPrecedes instructions
1 ►
Step-by-step instructions. The instructions are numbered in the or-
der 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-Scan325-2810-013US13
1.2 Appearance of Instructions
The initial requirements regarding 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 must be a laboratory
2.
ZInspecting and cleaning CoboSafe CBSF-75
Personnel Personal Protective Equipment
■Laboratory scientists
■System integrators
■Protective gloves
■Safety shoes
Special Tools Material
■Set of Allen keys ■Cleaning supplies
■Soft, lint-free cloth
In order for the measuring system to provide reliable measurement data,
it must be cleaned and checked for external damage regularly
1 ►Place the measuring system on a free, flat surface
 The measuring system rests securely and cannot fall of.
2 ►...
Fig. 1: Example of instructions
1.
3.
4. 5.
6.
7.
8.

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CoboSafe-Scan 325-2810-013US13
FOR YOUR SAFETY
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
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" contains further information
and must be observed.
2.1 Intended Use
CoboSafe-Scan is a pressure measurement method used to determine the pressure forces and
pressure distribution in collisions with collaborating robots. The pressure values are calculated
using the CoboSafe-Vision software based on the underlying standards and publications (Read
the related document ' General Safety Instructions', chapter 'Underlying Standards and Infor-
mation Material'). It 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-Scan325-2810-013US13
2.4 Residual Risk When Using CoboSafe-CBSF Force Sensors
Please read the chapter "Residual risks" in the corresponding document "CoboSafe – General
safety instructions".
Attention!
The measurement setup must meet requirements with regard to 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 ed-
ged components 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, lm rolls or the scanner are dropped, severe inju-
ries up to crushing and bone fractures can result.

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CoboSafe-Scan 325-2810-013US13
BRIEF DESCRIPTION
3 Brief Description
Fujifilm Prescale film is a pressure-sensitive film consisting of two layers. This is cut to size on the
measuring surface of the CoboSafe-CBSF force gauge and fixed to it. In addition, a specified
microfiber cloth can be placed over the pressure measuring film, which fulfils the function of
a filter.
The pressure measurement takes place simultaneously with the force measurement. The pressure
film discolors in different red intensities depending on the amount of pressure applied. As a
result, a pressure image or a pressure distribution becomes visible.
The pressure image is then imported into the CoboSafe-Vision software and evaluated taking
the measurement parameters into account. The import is carried out via a scanner and a cali-
bration sheet specially adapted to the scanner. The calibration sheet ensures that the scanned
colors can be converted into correct values. At the same time a control of the calibration sheet
and the scanner is possible.
Important: The significance of the measurement results is limited exclusively to the contact situ-
ation measured in each case.
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
■Fujifilm Prescale film A, type LLW
(optionally available: LW) [1]
■Fujifilm Prescale film C (developer)
[2]
■GTE calibration sheet [3]
■Scanner type FUJITSU fi-65F with
original power supply and USB
transfer cable [4]
Fig. 2: Scope of delivery 1

UPDATES UND UPGRADES
12 CoboSafe-Scan325-2810-013US13
5 Updates und Upgrades
Updating and further development of peripherals and software is necessary due to normative
adaptations. These changes are offered in the form of updates and upgrades by the manu-
facturer. In order to maintain full functionality, updating to the latest version is necessary and
must be ensured.
Information about important changes can be obtained using the CoboSafe-Vision software.
When the PC software CoboSafe-Vision is started, the version status is automatically queried
online. A more recent version can be downloaded, if available. The update also informs about
changes to the system CoboSafe-Scan.
After updating the CoboSafe-Vision software, the software is up to date as well as the related
user manual. This also includes the present document CoboSafe-Scan. The documentation
must be available in printed form (Please note the related document “CoboSafe – General
Safety Instructions”).
Updates
An update may require adjustment of the pressure measurement system. An update
is then mandatory to ensure the correct evaluation via the software.
6 Description of the Components
6.1 Information about the Pressure Measuring Films
Fujifilm Prescale film are formed from two film components,
each supplied on a roll. One film component contains color
pigments and the other film assumes the function of a de-
veloper that fixes the color change.
Only if film A (color pigments, Fig. 3/1, here type LW) and
film C (developer, Fig. 3/2) are combined, a color change
is produced by pressure load.
One or both of the following types are used for pressure mea-
surement depending on the scope of delivery (take delivery
note into account):
Fig. 3: Film A and film C

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CoboSafe-Scan 325-2810-013US13
DESCRIPTION OF THE COMPONENTS
Film type Color
Film A: LW (low pressure) bluish
Film A: LLW (super low pressure) yellowish
Film C: developer whitish
Both film types are described in the supplier documentation.
Note the surface
Film A and Film C both have a reflective and a matte surface. The matte surface is
the functional side (color change or developer) in each case.
The Fujifilm Prescale film is available for diffe-
rent pressure ranges. The types LW and LLW
are used for CoboSafe-Scan. The type desig-
nation is shown on the label of the packaging
unit [1].
You will find the original instruction manual
in the packaging. It contains information on
operation and storage. Observe these inst-
ructions and the supplementary instructions in
this manual. Please use the CoboSafe-Vision
software and the related user manual for the
application oriented evaluation.
6.1.1 Safety-Relevant Information
The following properties must be considered when handling the film:
■Fujifilm Prescale films are sensitive to moisture. The measuring surface must not be
touched, as touching it can lead to a change in color. Hold the film only on the edge,
outside the actual measuring surface.
■The pressure films must not come into contact with other liquids.
■Only films of the same type and from the same packaging unit may be used for the
measurement.
■The pressure films have limited durability. Only use pressure film whose shelf life has not
expired.
■Only use film that is correctly packaged and protected in UV-resistant sleeves.
■The coloring can change under UV radiation. Therefore, the pressure images must be
scanned in a maximum of 20 minutes after the measurement.
Fig. 4: Label
1

DESCRIPTION OF THE COMPONENTS
14 CoboSafe-Scan325-2810-013US13
■The correct evaluation of the pressure measurement is only possible if the correct tem-
perature and humidity parameters are specified. The values must be determined with a
suitable hygrometer at the point of measurement.
■The correct specification of the type used is required for the evaluation. An incorrect type
specification will produce incorrect measured values!
GEFAHR
WARNING
Risk of injury due to incorrect handling of the pressure
measuring lm
■Risk of injury due to color change!
■Protect pressure measuring films from UV radiation.
■Do not touch the matte side of the film.
■Ensure specified application and storage conditions for
pressure measuring film.
■An incorrect type specification during import into CoboSa-
fe-Vision software will generate incorrect measured values!
The exposure to sunlight, skin contact and ageing can
falsify the measurement results of the pressure lm. This
can erroneously classify robots as safe. Severe injuries to
collaborating personnel may result.
6.1.2 Durability
Fujifilm Prescale films have a limited shelf life. The expiry date is shown on the label [1].
6.1.3 Storage
■Note the expiration date. Dispose of expired goods properly.
■After use, repack the rolls in the UV-resistant original sleeves and place the rolls back
in the original carton with the correct labeling to ensure safe identification and a clear
overview of the shelf life.
■Protect the packaging unit from moisture.
Fig. 5: Label - expiry date
1

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CoboSafe-Scan 325-2810-013US13
DESCRIPTION OF THE COMPONENTS
6.2 Calibration Element
The calibration element (Fig. 6) enables the color cali-
bration of the scanner during the scan. Defined color
areas (Fig. 6/1) are recorded during the calibration
process and serve as reference values for software-ba-
sed color analysis. Only if the colored areas are cap-
tured as intended does the scan deliver an achievable
result.
In the middle of the calibration element, a framed squa-
re (Fig. 6/2) indicates the area in which the discolored
pressure measuring film can be placed for the scan.
6.3 Special Scanner
The special color-calibrated FUJITSU fi-65F scanner,
which is calibrated by means of a calibration element,
is used to scan the discolored pressure measuring film
and thus make the color change accessible for nume-
rical evaluation. The scanner is described in detail in
the supplier documentation of the manufacturer that is
packed with the scanner.
See also own document of the manufacturer:
■Operating instructions FUJITSU fi-65F
6.4 Microber Cloth
Since the pressure measuring film is high-resolution, even the smallest unevenness, which can
be present e.g. with a rough surface or contamination, is detected. These irregularities can
create single pixels with deep red saturation. When importing and evaluating the pressure
image, these pixels generate high pressure values.
In order to filter these 'error pixels' at the cause, it is possible to use a specified microfiber cloth
on the pressure measuring film (please consider national specifications).
Compensation of the surface by microber cloth
To compensate for the surface contours, a microfiber cloth with a thickness of ≤
0.5 mm can be used.
Fig. 6: Calibration element
Fig. 7: Special scanner

QUANTIFICATION OF THE MEASUREMENT DATA
16 CoboSafe-Scan325-2810-013US13
7 Quantication of the Measurement Data
The result of the pressure measurement is initially only qualitative. The discoloration of the
pressure measuring film indicates which pressures have occurred within the measuring range.
In order to quantify the maximum pressures, the pressure measuring film must be scanned
(chapter 'Transfer measurement data').
Surface integral of the pressure unequal maximum force
The pressure measurement by means of pressure measuring film has a temporal component.
The surface integral of the pressure across the measuring surface is therefore not equal to the
maximum force.
7.1 Calibration
The calibration of the pressure measuring film is not possible. Here the specifications of the
manufacturer apply for the duration of the shelf life.
8 Preparing for Measurement
8.1 Tools and Consumables
The following tools and materials are required for the measurement:
■Fujifilm Prescale film
■Scissors
■Microfiber cloth (optional)
■CoboSafe-CBSF force gauges with integrated thermo-hygrometer or alternatively:
■A commercially available hygrometer for determining relative humidity. The hygro-
meter has a maximum measurement error of ±3 % in the range of 0 - 100 % relative
humidity at 25 °C.
■A commercially available thermometer for determining the temperature of the ambient
air. The thermometer has a maximum measuring error of 0.5 °C within a measuring
range of 0 - 50 °C.
Fig. 8: Surface integral

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CoboSafe-Scan 325-2810-013US13
PREPARING FOR MEASUREMENT
GEFAHR
WARNING
Unsuitable tools or consumables
Risk of injury due to use of unsuitable tools or consumables!
■Only use the tools and consumables described above.
■Only use consumables certified by the manufacturer.
If tools and consumables are not provided as described
be, permanent damage to the measuring system can be
caused when handling the measuring system. This can
cause measurement results to be erroneous. Personal in-
jury caused by robots falsely classied as safe can be the
result.
Consumables
The consumables described can be obtained from GTE Industrieelektronik GmbH.
For this purpose, contact customer service (chapter 'Customer service').
GEFAHR
WARNING
Invalid measurement results due to damage to the mea-
suring system.
■Select suitable material
■Handle devices as described
If tools and consumables are not provided as described
below, permanent damage to the measuring system can
be caused when handling the measuring system. This can
cause measurement results to be erroneous. Personal in-
jury caused by robots falsely classied as safe can be the
result.
8.2 Selecting Suitable Pressure Measurement Films
If several pressure measuring films are available for selection, a film must be selected whose
measuring range is suitable for the planned collision. The definition of possible collisions and
the choice of force and pressure sensor must be taken into account when preparing the mea-
surement environment and selecting the measurement points within CoboSafe-Vision. The col-
lision positions determine the body localizations and, if applicable, the specific localizations.
When selecting the measuring points, remember that only the respective contact situations can
be measured and evaluated.
8.3 Checking and Cleaning
Personnel Personal Protective Equipment Materials
■Laboratory scientist
■System integrator
■Protective clothing
■Protective gloves
■Safety shoes
■soft, lint-free cloth
■Detergents
■Reference weight

PREPARING FOR MEASUREMENT
18 CoboSafe-Scan325-2810-013US13
Impurities (e.g., sand grains or metal chips) in the measurement setup can lead to considerable
exceedances of the limit value during pressure measurement. All contact surfaces must be cle-
aned before measurement. Damaged components of the measuring system prevent a reliable
measurement and must be replaced.
8.3.1 Cleaning the Scanner
ZCleaning the special scanner
1 ►Cut the power supply to the scanner
2 ►Unplug the power cord of the power supply unit
3 ►Disconnect the special scanner connection cable of the power supply unit.
4 ►Fold up the scanner´s cover
5 ►Carefully clean the scanning surface with a clean, soft, and damp cloth. For grea-
sy soiling, use some detergent. [Fig. 8/1]
6 ►Carefully dry all cleaned surfaces with a soft, lint-free cloth. Until the scanning
surface is free of dirt.
 The scan area is free from contamination.
8.3.2 Checking Pressure Measurement Film
■Damaged film areas must not be used for the measurement. Check both components of
the Fujifilm Prescale film (film A and film C) for external damage (e.g., cracks, kinks). Do
not touch the mat side with your fingers.
■Discolored areas must not be used for the measurement. Check film C for discoloration.
Do not touch the mat side with your fingers.
■Cut out and dispose of creased, cracked or otherwise damaged or discolored film
areas.
■The film areas to be used must be free of damage and discoloration.
8.3.3 Checking and Cleaning the Collision Surface of the Robot
Clean the collision surface of the robot (e.g., gripper) with a clean cloth. In particular, remove
coarse particles (e.g., grains of sand or metal chips).

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CoboSafe-Scan 325-2810-013US13
PREPARING FOR MEASUREMENT
8.4 Cutting the Pressure Measurement Film to Size
Personnel Personal Protective Equipment
■Laboratory scientist
■System integrator
■Protective clothing
■Protective gloves
■Safety shoes
ZCut size: approx. 80 mm x 80 mm
1 ►Cut film A and C separately into squares according to the above-mentioned cut
size. Do not touch the blank.
2 ►Cut film A like film C.
3 ►Place film separately on a flat surface.
 The cropping process is complete and the film blanks can be used.
8.5 Applying the Pressure Measurement Film
After the measuring film has been cut to size, it is placed on the CBSF force gauge.
Example with CBSF-Basic:
Personnel Personal Protective Equipment
■Laboratory scientist
■System integrator
■Protective clothing
■Protective gloves
■Safety shoes
Fig. 9: Cutting

PERFORMING MEASUREMENT
20 CoboSafe-Scan325-2810-013US13
Combining Measuring unit CBSF-Basic
As soon as film A and film C are combined, applied pressure triggers a color change. Avoid
applying unintentional pressure to the film during and after combination.
1 ►The specified compression element is dis-
played in CoboSafe-Vision in the measure-
ment plan.
Position the compression element [Fig.
10/1] on the measuring surface of the
CBSF force sensor.
2 ►Place the cropped film C [Fig. 10/2] on
the compression element. The matt side must
face outwards.
3 ►Apply cropped film A [Fig. 10/3, here type
LW] to film C. The shiny side must face out-
wards. Carefully fix the applied film to the
edges of the measuring surface, e.g., with
adhesive tape. Do not exert any pressure on
the intended measuring area of the pressure
measuring film.
4 ►If intended: Carefully cover the measuring
unit with a microfiber cloth [Fig. 10/4].
Do not exert any pressure on the measuring
surface.
9 Performing Measurement
Personnel Personal Protective Equipment
■Laboratory scientist
■System integrator
■Protective clothing
■Protective gloves
■Safety shoes
Fig. 10: Combining measuring unit