OnRobot DOOSAN Gecko Gripper User manual

USER MANUAL
FOR DOOSAN ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.02

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 .....................................................................................................................4
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
3 Operation mode(s) .................................................................................................................10
4 Installation.............................................................................................................................11
4.1 Overview....................................................................................................................................11
4.2 Mounting ...................................................................................................................................11
4.2.1 Quick Changer options ....................................................................................................12
4.2.2 Tools ................................................................................................................................14
4.3 Wiring ........................................................................................................................................18
4.3.1 Tool data .........................................................................................................................18
4.3.2 Digital I/O wires...............................................................................................................18
4.3.3 Ethernet cable .................................................................................................................21
4.3.4 Power supply...................................................................................................................21
5 Operation...............................................................................................................................23
5.1 Overview....................................................................................................................................23
5.2 Ethernet Interface setup ...........................................................................................................24
5.3 Web Client .................................................................................................................................26
5.4 OnRobot WebLogic menu .........................................................................................................28
5.4.1 Browser ...........................................................................................................................28
5.4.2 Program Editor ................................................................................................................29
6 Additional Software Options...................................................................................................35
6.1 Compute Box .............................................................................................................................35
6.1.1 Interfaces.........................................................................................................................35
6.1.2 Web Client.......................................................................................................................35
6.2 Modbus TCP...............................................................................................................................51
6.2.1 Settings............................................................................................................................51
6.2.2 Function codes ................................................................................................................52
6.2.3 Registers..........................................................................................................................52

Introduction
3
7 Hardware Specification...........................................................................................................63
7.1 Technical sheets ........................................................................................................................63
7.2 Mechanical Drawings ................................................................................................................89
7.2.1 Adapter plate(s) ..............................................................................................................89
7.2.2 Mountings .......................................................................................................................89
7.2.3 Tools ................................................................................................................................92
7.3 Center of Gravity .......................................................................................................................99
8 Maintenance ........................................................................................................................100
9 Warranties ...........................................................................................................................103
9.1 Patents.....................................................................................................................................103
9.2 Product Warranty....................................................................................................................103
9.3 Disclaimer ................................................................................................................................103
10 Certifications........................................................................................................................104

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
Gecko Gripper
v2
RG2
v2
RG2-FT
v2
RG6
v2
VG10
v2
Sensors
Version
HEX-E QC
v3
HEX-H QC
v3
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.
1.3 Naming convention
In the user manual Gecko Gripper is called Gecko only.
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.

Introduction
5
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 relevant for the RG2 product only.
RG2-FT
This is an instruction relevant for the RG2-FT product only.
VG10
This is an instruction relevant for 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
RG2-FT...............................................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 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 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.
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

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 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
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 PLd CAT3 Safety Function
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 the gripper always make sure that no part will 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

Operation mode(s)
10
3Operation mode(s)
There is one way how the device(s) could be used:
Mode(s) of Operation
OnRobot WebLogic
required in the robot: digital I/O
module
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 the force values measured with the HEX-E QC reach 50N, the Compute Box 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.
In this document this mode of operation will be covered and will be referred to as:
•OnRobot WebLogic

Installation
11
4Installation
4.1 Overview
For a successful installation the following steps will be required:
•Mount the components
•Wire the cables
•Setup the software
In the following sections, these installation steps will be described.
4.2 Mounting
Required steps:
•Mount the Quick Changer option
•Mount the tool(s)
In the following two subsections these two mounting steps will be described.

Installation
12
4.2.1 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.
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.

Installation
13
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
14
4.2.2 Tools
Gecko.............................................. 14
Quick Changer - Tool side................. 15
RG2 ................................................. 15
RG2-FT............................................. 16
RG6 ................................................. 16
VG10 ............................................... 17
Gecko
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.
CAUTION:
With a Dual Quick Changer the Gecko Gripper can only be mounted on
the Secondary (2) side. Mounting on the Primary (1) side will prevent the
devices to function correctly.

Installation
15
Quick Changer -
Tool side
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.
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.

Installation
16
RG2-FT
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.
RG6
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.

Installation
17
VG10
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.

Installation
18
4.3 Wiring
Four kind of cables have to be connected to wire the system properly:
•Tool data cable between the tool(s) and the Compute Box
•The provided Digital I/O wires between the Computer Box and the robot controller
•Ethernet communication cable between the Compute Box and your computer
•Power supply of the Compute Box
4.3.1 Tool data
Connect the data cable to the tool(s) then route the cable (blue line) to the Compute Box (CB) and use the
supplied Velcro tape (black) to fix it.
NOTE:
Leave some extra cable length around the joints so that the 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)
Then, connect the other end to the Compute Box's DEVICES connector.
CAUTION:
Use only original OnRobot tool data cables.
4.3.2 Digital I/O wires
For Doosan robots, the I/O interface (TBCI 1-2, TBC0 1-2 ) inside the control cabinet can be used connect
the Compute Box to the robot controller.
CB
bending radius
extra length
Robot
controller

Installation
19
Make sure that the robot is powered off completely.
Configure the Compute Box DIP switches (red) to PNP:
For PNP type set the 1. and 2. DIP switches to OFF position (down).
DIP switch 1: Digital Input mode
DIP switch 2: Digital Output mode
NOTE:
Do not change the DIP switch 3 and 4 otherwise the network settings will
be changed.
Plug in the two green 8 pole pluggable connectors.
The supplied connector type is:
2 x Phoenix Contact MC 1,5/8-ST-3,5 Terminal Block.
Wire the digital I/O wires from the Compute Box to the robot.
DO1-8: Digital outputs of the Compute Box (signals from the grippers/sensor to the robot)
DI1-8: Digital inputs of the Compute Box (signals from the robot to the grippers/sensor)
It is recommended to connect all 8 inputs and 8 outputs for simplicity.
CAUTION:
If some of the DO1-8 or DI1-8 wires will not be connected, make sure to
unscrew it from the terminal block to avoid an accidental short circuit.

Installation
20
CAUTION:
The 24V and GND pins are only Reference Voltage Output. It cannot be
used to power any equipment.
It is recommended to use the supplied wires only. If it is necessary to use
different wire, use one that is shorter than 3 m.
Connect the Compute Box inputs to the robot outputs and the Compute Box outputs to robot
inputs.
For simplicity, it is recommended to map the pins in order:
DO1 to the robot's Digital input 1
DO2 to the robot's Digital input 2
…
DO8 to the robot's Digital input 8
DI1 to the robot's Digital output 1
DI2 to the robot's Digital output 2
…
DI8 to the robot's Digital output 8
List of the important pins of the IO terminal blocks:
Pin
Description
Pin
Description
I01
Digital input 1
O01
Digital output 1
I02
Digital input 2
O02
Digital output 2
I03
Digital input 3
O03
Digital output 3
I04
Digital input 4
O04
Digital output 4
I05
Digital input 5
O05
Digital output 5
I06
Digital input 6
O06
Digital output 6
I07
Digital input 7
O07
Digital output 7
I08
Digital input 8
O08
Digital output 8
GND
Ground
Please note which pin you used during the wiring, in a later step it is going to be needed for the mapping.