OnRobot 3FG15 User manual

USER MANUAL
FOR YASKAWA ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.1.6

Introduction
2
Contents
Contents.................................................................................................................................... 2
1 Introduction........................................................................................................................ 4
1.1 Important Safety Notice ..............................................................................................4
1.2 Scope of the Manual.....................................................................................................4
1.3 Naming convention......................................................................................................5
1.4 How to read the Manual...............................................................................................5
2 Safety................................................................................................................................... 6
2.1 Intended Use ................................................................................................................6
2.2 General Safety Instructions..........................................................................................7
2.3 Risk Assessment...........................................................................................................8
2.4 Environmental Safety...................................................................................................8
2.5 PLd CAT3 Safety Function............................................................................................9
2.6 Screwdriver Safety feature........................................................................................10
2.6.1 Screw-bit System Always Hidden ..................................................................10
2.6.2 Operational Safety.........................................................................................10
2.6.3 Automatic Safety Feature..............................................................................11
3 Operation mode(s)........................................................................................................... 12
Mode I - OnRobot EtherNet/IP............................................................................................. 14
4 Installation........................................................................................................................ 15
4.1 Overview.....................................................................................................................15
4.2 Mounting ....................................................................................................................15
4.2.1 Adapter(s).......................................................................................................15
4.2.2 Quick Changer options...................................................................................17
4.2.3 Tools ...............................................................................................................19
4.3 Wiring..........................................................................................................................26
4.3.1 Tool data cable...............................................................................................26
4.3.2 Ethernet cable................................................................................................27
4.3.3 Power supply..................................................................................................28
4.4 Software setup...........................................................................................................30
4.4.1 Overview.........................................................................................................30
4.4.2 Configure the Compute Box as a Scanner.....................................................30
4.4.3 Configure the Robot as an Adapter ..............................................................32
4.4.4 Upload the OnRobot functions to the robot................................................37
5 Operation.......................................................................................................................... 40
5.1 Overview.....................................................................................................................40
5.2 List of functions..........................................................................................................41
Mode II - OnRobot WebLogic™............................................................................................. 66

Introduction
3
6 Installation........................................................................................................................ 67
6.1 Overview.....................................................................................................................67
6.2 Mounting ....................................................................................................................67
6.2.1 Adapter(s).......................................................................................................67
6.2.2 Quick Changer options...................................................................................69
6.2.3 Tools ...............................................................................................................71
6.3 Wiring..........................................................................................................................78
6.3.1 Tool data.........................................................................................................78
6.3.2 Digital I/O wires..............................................................................................78
6.3.3 Ethernet cable................................................................................................83
6.3.4 Power supply..................................................................................................84
7 Operation.......................................................................................................................... 85
7.1 Overview.....................................................................................................................85
7.2 Ethernet Interface setup............................................................................................86
7.3 Web Client ..................................................................................................................88
7.4 OnRobot WebLogic™ menu.......................................................................................90
7.4.1 Browser ..........................................................................................................90
7.4.2 Program Editor...............................................................................................91
8 Additional Software Options.......................................................................................... 99
8.1 Compute Box..............................................................................................................99
8.1.1 Interfaces........................................................................................................99
8.1.2 Web Client......................................................................................................99
9 Hardware Specification.................................................................................................124
9.1 Technical sheets .......................................................................................................124
9.2 Mechanical Drawings................................................................................................179
9.2.1 Adapter plate(s) ...........................................................................................179
9.2.2 Mountings.....................................................................................................182
9.2.3 Tools .............................................................................................................186
9.3 Center of Gravity......................................................................................................198
10 Maintenance ...................................................................................................................201
11 Warranties.......................................................................................................................206
11.1 Patents......................................................................................................................206
11.2 Product Warranty.....................................................................................................206
11.3 Disclaimer .................................................................................................................206
12 Certifications..................................................................................................................207
12.1 Declaration of Incorporation ...................................................................................220

Introduction
4
1Introduction
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 its components:
Grippers
Version
3FG15
v1
RG2
v2
RG2-FT
v2
RG6
v2
Screwdriver*
v1
SG
v1
VG10
v2
VGC10
v1
Sensors
Version
HEX-E QC
v3
HEX-H QC
v3
*For the Screwdriver, a Compute Box with hardware version of at least v3.4 is required. To
check the HW version of the Compute Box, refer to the sticker on the device. Or check the HW
version in the Web Client software.
Where applicable the combination of the products is also covered in the manual.
NOTE:
Generally, the products without the Quick Changer v2 interface, are not
in the scope of this manual.
The manual covers the following Compute Box software version:
Software
Version
Compute Box
v5.1.6
NOTE:
In case when the used Compute Box has lower software/firmware
version, please update before use. For detailed instructions on the
update refer to Web Client description at the end of this Manual.
NOTE:
The EtherNet/IP functions used with the v5.0.x are not compatible
with the ones required for the v5.1.x. Please remove the older
functions before using the newer ones.

Introduction
5
1.3 Naming convention
The 3FG15 product sometimes will be called TFG as Three-Finger Gripper.
The RG2 and RG6 names as model variants are used separately or together as RG2/6 if the
information is relevant for both variants.
The HEX-E QC and HEX-H QC names as model variants are used separately or together as HEX-
E/H QC if the information is relevant for both variants.
1.4 How to read the Manual
The manual covers all OnRobot products and its components that is available for your robot.
To make it easy to follow what type of product (or combination) or component is the given
information is relevant for, the following visual highlights are used:
RG2
This is an instruction relevantfor the RG2 product only.
RG6
This is an instruction relevantfor the RG6 product only.
VG10
This is an instruction relevantfor the VG10 product.
All text without these visual marks are relevant for all products or components.
For convenience, in each part that contains visual highlights (that span across pages) a table is
provided in the beginning, to guide you which page contains the relevant information for your
product or component:
RG2 ..................................................5
RG6 ..................................................5
VG10................................................5

Safety
6
2Safety
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 machinesand additional safetydevices if definedby therisk 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
different 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 Technical sheets
section.
Anyuse or application deviating fromintended useis deemed to be impermissiblemisuse. 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

Safety
7
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:
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
thecomplete system. Thecompletesystem 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 beplaced between 20and 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
2.3 Risk Assessment
The robot integrator must perform a risk assessment on the complete robot application.
OnRobot tools areonlycomponents in a robot applicationand therefore theycan beonlysafely
operated if theintegrator hasconsidered thesafetyaspectsof 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 haveidentifiedthepotential hazardslisted below assignificant hazardsthat 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 PLd CAT3 SafetyFunction
RG2
RG6
A safety-rated function has been designed as two buttons at the two arms of the product,
conforming to ISO 13849-1 PLd CAT3.
This Safety Function has a max response time of 100 ms and a MTTF of 2883 years.
The behavior of the safety system is described below:
If something activates the two Safety Buttons, see picture below, the safety control system
stops motion of the two arms of the product. Motion is then prevented as long as one or both
of the two buttons are activated.
If this happens while running the robot program, user can detect this condition with the help
of the provided status information and execute any necessary step on the robot.
To come back to normal operation with the gripper there are provided commands to reset the
gripper.
CAUTION:
Before resetting thegripper alwaysmake sure that no partwill be
dropped due to the loss of gripper power. If Dual Quick Changer
is used it will cycle the power for both sides.
For further details refer to the Operation section.
PLd CAT3 Safety Buttons

Safety
10
2.6 Screwdriver Safety feature
2.6.1 Screw-bit System Always Hidden
The Screwdriver has been designed so that the Screw-bit
System can always be hidden inside the housing to enhance
safety.
The Move Shank command will allow the user to hide the
Screw-bit System inside the housing at any time.
Additionally, the software is being designed so that after
running a Tighten, Loosen or Pick Screw command, the
Screw-bit System will be automatically hidden inside the
housing.
NOTE:
As mentioned in the technical sheet, this
safety functionality will be achieved if the
screw length is equal or less than 35 mm.
2.6.2 Operational Safety
The Screwdriver has been designed so that its operations mustbe executed when the distance
between the Screwdriver's bottom part and the surface where the action takes place is within
the range of 0-8 mm (see image below). If the distance is higher than this, the Screwdriver
operations will not be successful, and the system will generate an error.
From a safety perspective, this ensures that nothing larger than 8 mm is exposed to be harmed
by the Screw-bit System while executing a Screwdriver operation.
For instance, if a hand is located on the workpiece when the robot moves toward the recorded
waypoint, the robot in a collaborative installation will have a protective stop when hitting the
hand as it does not reach the recorded waypoint (as a hand is thicker than 8 mm). Additionally,
If the robot reaches the recorded waypoint and starts the screwing operation, the <8 mm
distance prevents the user from placing a hand/finger underneath during a Screwdriver
operation.
NOTE:
As mentioned in the technical sheet, this safety functionality will be
achieved if the screw length is up to 35 mm.
0-8 mm

Safety
11
2.6.3 Automatic Safety Feature
An automatic safety feature has been implemented to reduce the possibility of the users to be
in danger.
This safety feature is activated if the Screw-bit System detects a force above 40N during
operation. In such a case, a mechanical mechanism will immediately retract the shank and hide
it (up to 35 mm screw length).
Screw-bit System out
Automatic safety activated
If this happens, the safety state becomes triggered.
To reset from this state, command the shank to a new position.
Additionally, if the bottom part of the Screw-bit System detects an unexpected force above
20N while not in operation, the Screw-bit system will retract and be temporarily hidden into
the housing (up to 35 mm screw length). This will not stop the robot program, only temporarily
hide the Screw-bit System.
CAUTION:
This retract functionality does not work if the power is interrupted.
Further actions may be required to eliminate the risk, identified by the risk
assessment.

Operation mode(s)
12
3Operation mode(s)
There are two alternative modes how the device(s) could be used:
Modes of Operation
OnRobot EtherNet/IP
required in the robot: EtherNet/IP
module
OnRobot WebLogic™
required in the robot: digital I/O
module
OnRobot EtherNet/IP
This mode uses the EtherNet/IP industrial network protocol to operate the grippers/sensor.
EtherNet/IP is a fieldbus that uses the standard Ethernet networking (simple UTP cable,
standard network switch can be used, etc.).
The Compute Box implements an EtherNet/IP Scanner (master device) and requires the robot
controller to implement an EtherNet/IP Adapter (slave device) to operate.
With configurable cycle time (e.g.: 8ms) the ComputerBox can "read" and "write" to the robot
so the grippers/sensor can be controlled or monitored.
There are global functions provided (on the USB stick) to make it easy to access the product
features.
OnRobot WebLogic™
This mode allows simple Digital I/O communication to be used to operate the grippers/sensor.
For example, the Compute Box could be easily programmed to:
•when one of the robot digital outputs is set to HIGH, then the RG2 gripper opens to
77mm
•or when theforcevalues measuredwiththeHEX-EQCreach 50N, theComputeBox sends
a HIGH digital output to the robot.
The Compute Box has 8 digital inputs and 8 digital outputs that can be freely configured for
any "logic".
In this way the user can configure:
•eight gripper/sensor controlling functionality (e.g.: set width to X, close, zero, set
preload, etc.)
•and eight gripper/sensor monitoring functionality (e.g.: is grip detected, is preload > 50N,
etc.).
Furthermore, the "logic" can be complex, like:
•is grip detected AND force >20 N
These "logics" can be programmed through the Compute Box's web interface called Web
Client. It requires only a normal computer with a browser.

Operation mode(s)
13
In this document both modes of operation will be covered and will be referred to as:
•OnRobot EtherNet/IP
•OnRobot WebLogic™
Mode I - OnRobot EtherNet/IP . 14
Mode II - OnRobot WebLogic™ . 66

Operation mode(s)
14
Mode I - OnRobot EtherNet/IP

Installation
15
4Installation
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 Mounting
Required steps:
•Mount the robot dependent adapter
•Mount the Quick Changer option
•Mount the tool(s)
In the following three subsections these three mounting steps will be described.
4.2.1 Adapter(s)
For GP7, GP8 models
Adapter F
1
M5x10 screws (ISO14580 A4-
70)
2
OnRobot adapter flange
(ISO9409-1-31.5-4-M6)
3
Dowel pin Ø5x6 (ISO2338 h8)
4
Robot tool flange (ISO 9409-
1-60-4-M5)
Use 5 Nm tightening torque.
For GP12 models
Adapter G
1
M4x10 screws (ISO14580 A4-
70)
2
OnRobot adapter flange
(ISO9409-1-31.5-8-M4)
3
Dowel pin Ø4x6 (ISO2338 h8)
4
Robot tool flange (ISO9409-1-
62-8-M4)
Use 3 Nm tightening torque.

Installation
16
For HC10 models
Adapter H
1
M6x8 screws (ISO14580 A4-
70)
2
OnRobot adapter flange
(ISO9409-1-31.5-4-M6)
3
Dowel pin Ø6x8 (ISO2338 h8)
4
Robot tool flange (ISO 9409-1-
80-4-M6)
Use 10 Nm tightening torque.

Installation
17
4.2.2 Quick Changer options
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.
Quick Changer
3FG15
HEX-E/H QC
RG2/6
RG2-FT
Screwdriver
VG10/VGC10
QC-R v2
QC-R v2-4.5 A
Dual Quick
Changer
Dual Quick Changer
1
M6x20mm (ISO14580 8.8)
2
Dual Quick Changer
3
Dowel pin Ø6x10 (ISO2338
h8)
4
Adapter/ Robot tool flange
(ISO 9409-1-50-4-M6)
Use 10 Nm tightening torque.
Dual Quick Changer
3FG15
HEX-E/H QC
RG2/6
RG2-FT
Screwdriver
VG10/VGC10
Dual QC v2
Dual QC v2-4.5 A

Installation
18
HEX-E/H QC
HEX-E/H QC
1
HEX-E/H QC sensor
2
M4x6mm (ISO14581
A4-70)
3
M6x8mm (NCN20146
A4-70)
4
HEX-E/H QC adapter
5
Adapter/ Robot tool
flange (ISO 9409-1-50-
4-M6)
Use 1.5 Nm tightening
torque. for M4x6mm
Use 10 Nm tightening torque.
for M6x8mm

Installation
19
4.2.3 Tools
3FG15 ........................................... 67
Gecko ........................................... 68
RG2 ............................................... 69
RG2-FT.......................................... 70
RG6 ............................................... 71
SG.................................................. 72
VG10............................................. 72
VGC10........................................... 73
Quick Changer - Tool side.......... 73
3FG15
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.
1
2

Installation
20
RG2
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.
To change the relative angle of the
gripper to the Quick Changer:
•first remove the four M4x6
screws
•tilt the gripper between -90° and
90°
•then put the four M4x6 screws
back and use 3.5 Nm tightening
torque to fix it.
WARNING:
Never use the device while any of the four M4x6 screws are
removed.