OnRobot 2FGP20 User manual

USER MANUAL
FOR UR ROBOTS
v1.13.0
Original Instructions

Contents
1. Introduction.................................................................................................................................... 5
1.1. Important Safety Notice....................................................................................................................5
1.2. Scope of the Manual........................................................................................................................ 5
1.2.1. 2FGP20.................................................................................................................................... 5
1.2.2. Software and Firmware....................................................................................................... 5
1.2.2.1. URCap Software.........................................................................................................5
1.2.2.2. Compute Box Software........................................................................................... 5
1.3. Naming Convention..........................................................................................................................6
1.3.1. 2FGP20.....................................................................................................................................6
1.3.2. Compute Box/Eye Box.........................................................................................................6
1.4. Copyright.............................................................................................................................................6
2. Safety.............................................................................................................................................. 7
2.1. Intended Use...................................................................................................................................... 7
2.2. General Safety Instructions............................................................................................................7
2.3. Risk Assessment.............................................................................................................................. 9
2.4. Environmental Safety...................................................................................................................... 9
2.5. 2FGP20 Safety................................................................................................................................10
3. Operation Mode(s)....................................................................................................................... 11
3.1. Operation via Compute Box...........................................................................................................11
3.2. Operation via UR's Tool Connector.............................................................................................11
4. HW Installation............................................................................................................................ 12
4.1. Overview............................................................................................................................................ 12
4.2. Robot Mount.....................................................................................................................................12
4.2.1. Quick Changer Mounting.................................................................................................. 12
4.2.1.1. Quick Changer - Robot Side..................................................................................12
4.2.1.2. 2FGP20......................................................................................................................12
4.2.2. Tools.......................................................................................................................................13
4.2.2.1. Finger and Vacuum Cup System Mounting......................................................13
4.2.2.2. 2FGP20.....................................................................................................................14
4.3. Compute Box Mount...................................................................................................................... 14
4.3.1. Optional - Clip-on Bracket................................................................................................. 14
4.4. Wiring via Tool Connector............................................................................................................ 15
4.5. Wiring via Compute Box............................................................................................................... 16
4.5.1. Tool Data Cable....................................................................................................................17
4.5.1.1. Cable to 2FGP20...................................................................................................... 17
4.5.1.2. Cable to Compute Box...........................................................................................17
4.5.2. Ethernet Cable.................................................................................................................... 18
4.5.3. Compute Box DIP Switch Settings................................................................................. 19
4.5.4. Power Supply: Compute Box...........................................................................................19
2

4.5.4.1. 2FGP20......................................................................................................................19
5. SW Installation............................................................................................................................ 20
5.1. Robot Software Setup................................................................................................................... 20
5.1.1. URCap Setup........................................................................................................................20
5.1.1.1. Device Info.................................................................................................................20
5.1.1.2. 2FGP20......................................................................................................................24
6. Operation.....................................................................................................................................28
6.1. URCap Commands.........................................................................................................................28
6.1.1. 2FGP20..................................................................................................................................28
6.1.1.1. 2FGP20 Finger Grip................................................................................................ 28
6.1.1.2. 2FGP20 Finger Release........................................................................................ 30
6.1.1.3. 2FGP20 Vacuum Grip............................................................................................. 31
6.1.1.4. 2FGP20 Vacuum Release..................................................................................... 32
6.2. URCap Toolbar............................................................................................................................... 32
6.2.1. 2FGP20.................................................................................................................................35
6.3. URScript Commands..................................................................................................................... 37
6.3.1. 2FGP20................................................................................................................................. 37
6.4. TCP Configuration..........................................................................................................................37
6.5. Feedback Variables....................................................................................................................... 41
6.5.1. 2FGP20.................................................................................................................................. 41
7. Additional Software Options..................................................................................................... 42
7.1. Compute Box/Eye Box................................................................................................................... 42
7.1.1. Ethernet Interface Setup.................................................................................................... 42
7.1.2. Web Client.............................................................................................................................44
7.1.3. Web Client: Devices Menu................................................................................................45
7.1.3.1. 2FGP20.......................................................................................................................46
7.1.4. Web Client: Configuration Menu.....................................................................................50
7.1.5. Web Client: Update Menu..................................................................................................51
7.1.6. Web Client: TCP/COG........................................................................................................ 53
7.1.7. Web Client: Account Settings........................................................................................... 54
8. Hardware Specification............................................................................................................. 58
8.1. Technical Sheets.............................................................................................................................58
8.1.1. 2FGP20..................................................................................................................................58
8.1.2. Quick Changers.................................................................................................................. 67
8.1.3. Compute Box....................................................................................................................... 68
8.1.3.1. With 6.25A Wall Adapter (150W)......................................................................... 68
8.1.3.2. Compute Box I/O interface.................................................................................. 69
8.2. Mechanical Drawings................................................................................................................... 69
8.2.1. Adapter Plate.......................................................................................................................69
8.2.2. Mountings............................................................................................................................70
3

8.2.2.1. Quick Changer - Robot Side................................................................................70
8.2.3. Tools....................................................................................................................................... 71
8.2.3.1. 2FGP20...................................................................................................................... 71
8.2.3.2. Compute Box..........................................................................................................72
8.3. TCP, COG......................................................................................................................................... 72
8.3.1. 2FGP20................................................................................................................................. 73
9. Maintenance................................................................................................................................ 74
9.1. 2FGP20..............................................................................................................................................74
10. Troubleshooting........................................................................................................................ 76
10.1. Robot Has Not Obtained an IP Address..................................................................................76
10.2. Error During Operation............................................................................................................... 76
10.3. Changing the DIP Switch Does Not Take Eect...................................................................76
10.4. URCap Operation......................................................................................................................... 76
10.5. Tool Functions Are Not Available............................................................................................. 77
11. Warranties................................................................................................................................... 78
11.1. Patents...............................................................................................................................................78
11.2. Product Warranty...........................................................................................................................78
11.3. Disclaimer........................................................................................................................................ 78
12. Certifications..............................................................................................................................79
12.1. EMC.................................................................................................................................................. 80
12.2. 2FGP20 - Environment...............................................................................................................80
12.3. Declaration of Incorporation.......................................................................................................81
12.3.1. 2FGP20.................................................................................................................................81
4

1. Introduction
1.1. Important Safety Notice
DANGER:
You must read, understand, and follow all safety information in this manual, and
the robot manual and all associated equipment before initiating robot motion.
Failure to comply with safety information could result in death or serious injury.
1.2. Scope of the Manual
The manual covers the following OnRobot products and their components:
1.2.1. 2FGP20
Tool Version
2FGP20 v1
1.2.2. Software and Firmware
1.2.2.1. URCap Software
The manual covers the following software versions:
Software Version
URCap v5.14.0
1.2.2.2. Compute Box Software
The manual covers the following Compute Box software version:
Software Version
Compute Box v5.14.0
NOTE:
When the used Compute Box has lower software/firmware version, update the
Compute Box. For detailed instructions, see 7.1.5. Web Client: Update Menu.
INTRODUCTION
5

1.3. Naming Convention
1.3.1. 2FGP20
The tool is called 2FGP20 or 2FGP in this document.
1.3.2. Compute Box/Eye Box
Eye Box and Compute Box are used interchangeably.
1.4. Copyright
The information contained herein is property of OnRobot A/S and shall not be reproduced in
whole or in part without prior written approval of OnRobot A/S. The information herein is
subject to change without notice and should not be construed as a commitment by OnRobot
A/S. This manual is periodically reviewed and revised.
OnRobot A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2015–2021 by OnRobot A/S.
The OnRobot A/S logo is trademark of OnRobot A/S.
INTRODUCTION
6

2. Safety
The robot integrators are responsible for ensuring that the applicable safety laws and
regulations in the country concerned are observed and that any significant hazards in the
complete robot application are eliminated. This includes, but is not limited to:
•Performing a risk assessment for the complete robot system
•Interfacing other machines and additional safety devices if defined by the risk assessment
•Setting up the appropriate safety settings in the robot software
•Ensuring that the user will not modify any safety measures
•Validating that the total robot system is designed and installed correctly
•Specifying instructions for use
•Marking the robot installation with relevant signs and contact information of the integrator
•Collecting all documentation in a technical file; including the risk assessment and this
manual
2.1. Intended Use
OnRobot tools are intended to be used on collaborative robots and light industrial robots with
dierent payloads depending on the end-of-arm tooling specifications. OnRobot tools are
normally use in pick-and-place, palletizing, machine tending, assembly, quality testing and
inspection and surface finishing applications.
The end-of-arm tooling should only operate under conditions noted in 8.1. Technical Sheets
section.
Any use or application deviating from intended use is deemed to be impermissible misuse.
This includes, but is not limited to:
•Use in potentially explosive atmospheres
•Use in medical and life critical applications
•Use before performing a risk assessment
•Use outside the permissible operational conditions and specifications
•Use close to a human’s head, face and eye area
•Use as a climbing aid
2.2. General Safety Instructions
Generally, all national regulations, legislations and laws in the country of installation must be
observed. Integration and use of the product must be done in compliance with precautions in
this manual. Particular attention must be paid to the following warnings:
SAFETY
7

DANGER:
You must read, understand, and follow all safety information in this manual, and
the robot manual and all associated equipment before initiating robot motion.
Failure to comply with safety information could result in death or serious injury.
The information in this manual does not cover designing, installing, and
operating a complete robot application, nor does it cover other peripheral
equipment that can influence the safety of the complete system. The complete
system must be designed and installed in accordance with the safety
requirements set forth in the standards and regulations of the country where
the robot is installed.
Any safety information provided in this manual must not be construed as a
warranty, by OnRobot A/S, that the robot application will not cause injury or
damage, even if robot application complies with all safety instructions.
OnRobot A/S disclaims any and all liability if any of OnRobot tools tooling are
damaged, changed or modified in any way. OnRobot A/S cannot be held
responsible for any damages caused to any of OnRobot tools tooling, the
robot, or any other equipment due to programming errors or malfunctioning of
any of OnRobot tools.
WARNING:
OnRobot tools are not allowed to be exposed to condensing conditions when
power is on or when connected to a robot. If condensing conditions appear
during transport or storage, the product must be placed between 20 and 40
Celsius degrees for 24 hours before power is applied or before connected to a
robot.
It is recommended that OnRobot tools are integrated in compliance with the following guides
and standards:
•ISO 10218-2
•ISO 12100
•ISO/TR 20218-1
•ISO/TS 15066
SAFETY
8

WARNING:
The tools have to be properly secured before operating the robot.
Keep fingers, clothes and hair away from the tool while the power is on.
Always use protective glasses when working with sharp objects.
Always ensure complete shutdown of the robot when working on the system
for maintenance or inspection.
Do not use the tools on people or animals.
Do not perform any modification to the tooling.
If the robot supports a bounded workspace/ speed/ force limit, make sure to
use those features.
Select robot trajectories that minimize risks of internal clamping between
robot joints and tooling.
2.3. Risk Assessment
The robot integrator must perform a risk assessment on the complete robot application.
OnRobot tools are only components in a robot application and therefore they can be only
safely operated if the integrator has considered the safety aspects of the whole application.
OnRobot tools are designed with relatively smooth and round design with a limited amount of
sharp edges and pinch points
In collaborative applications, the trajectory of the robot can play a significant safety role. The
integrator must consider the angle of contact with a human body, e.g. orientate OnRobot tools
and workpieces so that the contact surface in the direction of movement is as large as
possible. It is recommended that the tool connectors are pointed in the direction opposite to
the movement.
OnRobot A/S have identified the potential hazards listed below as significant hazards that
must be considered by the integrator:
•Objects flying from OnRobot tools due to loss of grip
•Objects falling down from OnRobot tools due to loss of grip
•Injuries due to collisions between humans and workpieces, OnRobot tools tooling, robot
or other obstacles
•Consequences due to loosen of bolts
•Consequences if OnRobot tools cable gets stuck to something
•Workpiece itself represents a hazard
2.4. Environmental Safety
OnRobot A/S products must be disposed of in accordance with the applicable national laws,
regulations and standards.
The product is produced with restricted use of hazardous substances to protect the
environment; as defined by the EU RoHS Directive 2011/65/EU. These substances include
mercury, cadmium, lead, chromium VI, polybrominated biphenyls and polybrominated
diphenyl ethers.
Observe national registration requirements for importers according to EU WEEE Directive
2012/19/EU.
SAFETY
9

2.5. 2FGP20 Safety
When setting the target force, be aware that the maximum permissible force on quasi-static
contacts for collaborative applications is 140 N. For further details, please check the IS0/TS
15066 standard.
SAFETY
10

3. Operation Mode(s)
This document covers installation and operation for both:
•UR CB3 series robot controllers
•and UR e-Series robot controllers.
Since the two controllers have similar installation and operation screens in these cases only
the e-Series screens are shown. Where the two requires dierent steps or screens it is
highlighted and referred as:
•CB3 series
•e-Series.
3.1. Operation via Compute Box
The product(s) could be used on both UR series via Compute Box, which works with all
products and product combinations. Diernet modes of operation require the same
installation/operation steps. Where the via Compute Box mode requires dierent steps, it is
highlighted and referred as via Compute Box.
3.2. Operation via UR's Tool Connector
The product(s) could be used on both UR series via UR's Tool Connector, which works with
the following products:
•2FG7 or
•2FGP20 or
•3FG15 (Only on e-Series) or
•MG10 (1) or
•RG2 (2) or
•RG6 (2) or
•SG or
•VG10 or
•VGC10
Dierent modes of operation require the same installation/operation steps. Where the via Tool
Connector mode requires dierent steps, it is highlighted and referred as via Tool Connector.
(1) When you use the CB3 tool connector, the following limitations apply to the MG10:
•The Smart grip feature is not available
•The Set finger oset feature is not available
(2) When you use the CB3 tool connector, the following limitations apply to the RG2 and RG6:
•The shown value of the read width (used as Current width and rg_Width) could be up to
+/- 1 mm of the actual value. However, the repetition accuracy is still as specified.
•The Set finger oset feature is not available. The zero reference is set with the standard
fingertips placed on the inner side.
OPERATION MODE(S)
11

4. HW Installation
4.1. Overview
For a successful installation the following steps will be required:
•Mount the components
•Setup the software
In the following sections, these installation steps will be described.
4.2. Robot Mount
1. Mount the robot-specific adapter (if applicable)
2. Mount any optional accessories
3. Mount the Quick Changer option
4. Mount the tool(s) (if applicable)
4.2.1. Quick Changer Mounting
4.2.1.1. Quick Changer - Robot Side
Quick Changer - Robot Side
1. M6x8mm (ISO14580 8.8)
2. Quick Changer (ISO 9409-1-50-4-
M6)
3. Dowel pin Ø6x10 (ISO2338 h8)
4. Adapter/ Robot tool flange (ISO
9409-1-50-4-M6)
Use 10 Nm tightening torque.
4.2.1.2. 2FGP20
When using the tool connector:
Name Quick Changer I/O
support – Robot Side
Quick Changer -
Robot Side
Quick Changer -
Robot Side 4.5A
Quick Changer -
Robot Side
Item # 102326 102037 104277 109498
Version QC-R – I/O QC-R v2 QC-R v2-4.5 QC-R v3
Illustration
Compatibility * ** **
HW INSTALLATION
12

* See gripper force and QC payload limitations in the 6. Operation and the 8.1.2. Technical
Sheets sections.
** See QC payload limitations in the 8.1.2. Technical Sheets section.
When using the Compute Box:
Name Quick Changer -
Robot Side
Quick Changer -
Robot Side 4.5A
Quick Changer -
Robot Side
Item # 102037 104277 109498
Version QC-R v2 QC-R v2-4.5 QC-R v3
Illustration
Compatibility * *
* See QC payload limitations in the 8.1.2. Technical Sheets section.
4.2.2. Tools
4.2.2.1. Finger and Vacuum Cup System Mounting
Finger Mounting
Mount the fingers by tightening the six M6x12 screws (per finger) with 3 Nm torque.
Vacuum Cup System Mounting
To mount the vacuum cup bracket, the vacuum cups and the tubes, follow the steps below:
1. Tighten four angle fittings to the gripper’s air sources.
2. Tighten the vacuum cups to the angle fittings through the holes of the bracket with 0.4 Nm
torque.
3. Place the desired bracket on the side of the gripper and tighten the six (2 if only row
shape will be used) M6x12 screws with 1 Nm torque.
HW INSTALLATION
13

4. Connect the tubes to the angle fittings by pushing them inside. To ensure that the tubes
are completely attached try to gently pull the tubes out. If a tube needs to be removed,
simply press the blue part of the angle fitting and pull the tube.
For more information about the vacuum cups customization, go to the Vacuum cups section in
the 8.1.1. Technical Sheet.
4.2.2.2. 2FGP20
Step 1:
Move the tool close to the Quick Changer as
illustrated.
The hook mechanism (rod and hook tongue)
will keep the lower part locked once mounted.
Step 2:
Flip the tool until it is fully mated, and you hear
a clicking sound.
To unmount the tool, press the aluminum
button on the Quick Changer and repeat the
steps in the reverse order.
4.3. Compute Box Mount
4.3.1. Optional - Clip-on Bracket
Optionally, fix the Compute Box to a surface using the provided Clip-on Brackets ( included
only from 17th December 2020).
HW INSTALLATION
14

Do the following on both sides of the Compute Box:
1. Hook the Clip-on Bracket to the rail on the side of the Compute Box and then flip it down.
2. Fasten the Clip-on Bracket with the plastic srew.
4.4. Wiring via Tool Connector
DANGER:
Use only original OnRobot tool data cables.
The following devices are supported in the operation mode via tool connector:
•2FG7
•2FGP20
•3FG15 (Only for e-Series)
•MG10
•RG2 / RG6
•SG
•VG10 / VGC10
For e-Series
Connect the Quick Changer to the UR's tool connector.
HW INSTALLATION
15

DANGER:
Never connect the Quick
Changer for I/O to an e-Series
UR robot's Tool Connector.
NOTE:
VG10 / VGC10 can only be
attached when the UR
controller is started (not in IDLE
mode) and no program is
running or completely powered
o.
CAUTION:
Dual Quick Changer cannot be
connected to the Tool
Connector, it must be used via
Compute Box.
For CB3
Connect the Quick Changer for I/O to the UR's tool connector.
DANGER:
Never connect the Quick
Changer or Dual Quick Changer
to a CB3 UR robot's tool
connector.
Wiring via Tool Connector is finished.
4.5. Wiring via Compute Box
DANGER:
Use only original OnRobot tool data cables.
HW INSTALLATION
16

Connect the following cables to wire the system:
•Tool data cable between the tool(s) and the Compute Box
•Ethernet cable between the robot controller and the Compute Box
•Power supply of the Compute Box
NOTE:
For the Quick Changer - Robot Side no cable is needed to be connected.
4.5.1. Tool Data Cable
4.5.1.1. Cable to 2FGP20
First connect the data cable to the tool.
Use the M8-8pin connector on the Quick
Changer or on the Dual Quick Changer.
Use the cable holder as illustrated on the left.
CAUTION:
Make sure to use the supplied
cable holder to prevent any
excessive strain on the 90-
degree M8 connector caused
by the rotation of the cable.
4.5.1.2. Cable to Compute Box
Then route the Tool data cable to the Compute Box (CB) and use the supplied Velcro tape
(black) to fix it.
HW INSTALLATION
17

NOTE:
Make sure that during the routing some extra length is used at the joints so
that cable is not pulled when the robot moves.
Also make sure that the cable bending radius is minimum 40mm (for the HEX-
E/H QC it is 70mm).
Finally, connect the other end of the Tool data cable to the Compute Box's DEVICES
connector.
CAUTION:
Quick Changer and Dual Quick
Changer can only be used to
power OnRobot tools.
4.5.2. Ethernet Cable
Connect one end of the supplied Ethernet (UTP) cable to the robot controller's Ethernet (LAN)
port.
NOTE:
If the robot controller's Ethernet port is in use, use a standard 4-port Ethernet
switch to be able to use two network devices at the same time.
Connect the other end of the supplied cable to the Compute Box's ETHERNET connector.
CAUTION:
Use only shielded, maximum 3m long Ethernet cables.
WARNING:
Check and make sure that the Compute Box enclosure (metal) and the robot
controller enclosure (metal) are not connected (no galvanic connection
between the two).
HW INSTALLATION
18

4.5.3. Compute Box DIP Switch Settings
Set the DIP switches of the Compute Box as follows:
Set the DIP switch 3 to ON and the DIP switch 4 to OFF position.
For more information about the Ethernet interface settings, see 7.1.1. Ethernet Interface
Setup.
4.5.4. Power Supply: Compute Box
Connect the supplied power supply to the Compute Box 24V connector.
NOTE:
To disconnect the power connector,
make sure to pull the connector housing
(where the arrows are shown) and not
the cable.
CAUTION:
Use only original OnRobot power
supplies.
Finally, power up the power supply that will power the Compute Box and the connected
Tool(s).
4.5.4.1. 2FGP20
Power Supply
1.5 A
5 A
6.25 A
NOTE:
For the 1.5 A power supply, the force is limited. For more information, see the
Force vs Current Graph in the 8.1.1. Technical Sheet.
HW INSTALLATION
19

5. SW Installation
5.1. Robot Software Setup
5.1.1. URCap Setup
UR CB3 UR e-Series
Select the Installation tab, then select
OnRobot Setup. The following screen is
shown:
Tap on the Installation tab in the top menu.
Then tap on the URCaps.
5.1.1.1. Device Info
In the normal view of the panel, the available functions are shown below:
SW INSTALLATION
20