OnRobot HEX-E QC User manual

USER MANUAL
FOR UR ROBOTS
v1.2.1

Contents
1. Introduction.................................................................................................................................... 7
1.1. Important Safety Notice.................................................................................................................... 7
1.2. Scope of the Manual.........................................................................................................................7
1.3. Naming Convention..........................................................................................................................8
1.3.1. HEX-E QC/HEX-H QC............................................................................................................8
1.3.2. 3FG15....................................................................................................................................... 8
1.3.3. RG2/RG6..................................................................................................................................8
2. Safety..............................................................................................................................................9
2.1. Intended Use......................................................................................................................................9
2.2. General Safety Instructions........................................................................................................... 9
2.3. Risk Assessment.............................................................................................................................10
2.4. Environmental Safety......................................................................................................................11
2.5. PLd CAT3 Safety Function............................................................................................................ 11
2.6. Screwdriver Safety Features....................................................................................................... 14
2.6.1. Screw-bit System Always Hidden................................................................................... 14
2.6.2. Operational Safety............................................................................................................. 14
2.6.3. Automatic Safety Feature.................................................................................................15
3. Operation Mode(s).......................................................................................................................17
4. HW Installation............................................................................................................................ 18
4.1. Overview............................................................................................................................................ 18
4.2. Mounting........................................................................................................................................... 18
4.2.1. Optional - Angle Bracket................................................................................................... 18
4.2.2. Quick Changer - Robot Side............................................................................................19
4.2.3. Dual Quick Changer.......................................................................................................... 19
4.2.4. HEX-E/H QC........................................................................................................................20
4.2.5. Tools......................................................................................................................................20
4.2.5.1. 3FG15........................................................................................................................ 20
4.2.5.2. RG2............................................................................................................................ 21
4.2.5.3. RG2-FT..................................................................................................................... 22
4.2.5.4. RG6........................................................................................................................... 23
4.2.5.5. Screwdriver.............................................................................................................24
4.2.5.6. SG..............................................................................................................................24
4.2.5.7. VG10.......................................................................................................................... 25
4.2.5.8. VGC10.......................................................................................................................25
4.2.5.9. Quick Changer - Tool Side..................................................................................25
4.3. Wiring................................................................................................................................................26
4.3.1. Tool Data Cable...................................................................................................................27
4.3.1.1. 3FG15, RG2, RG6, Screwdriver, SG, VG10, VGC10..........................................27
4.3.1.2. HEX-E/H QC.............................................................................................................28
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4.3.1.3. RG2-FT...................................................................................................................... 29
4.3.2. Ethernet Cable................................................................................................................... 30
4.3.3. Power Supply.......................................................................................................................31
5. SW Installation............................................................................................................................ 32
5.1. Install URCap....................................................................................................................................32
5.2. Uninstall Software..........................................................................................................................33
5.3. URCap Setup...................................................................................................................................34
5.3.1. 3FG15.....................................................................................................................................39
5.3.2. HEX....................................................................................................................................... 42
5.3.3. RG2-FT..................................................................................................................................44
5.3.4. RG2/6....................................................................................................................................48
5.3.5. Screwdriver.......................................................................................................................... 51
5.3.6. SG..........................................................................................................................................52
5.3.7. VG10...................................................................................................................................... 55
5.3.8. VGC10...................................................................................................................................56
6. Operation.....................................................................................................................................62
6.1. URCap Commands.........................................................................................................................62
6.1.1. 3FG15......................................................................................................................................63
6.1.2. HEX-E/H QC......................................................................................................................... 67
6.1.3. RG2-FT.................................................................................................................................. 82
6.1.4. RG2/6.....................................................................................................................................98
6.1.5. Screwdriver........................................................................................................................ 100
6.1.5.1. Pick Screw...............................................................................................................100
6.1.5.2. Tighten Screw....................................................................................................... 102
6.1.5.3. Loosen Screw........................................................................................................ 103
6.1.5.4. Move Shank........................................................................................................... 105
6.1.5.5. TCP...........................................................................................................................106
6.1.6. SG..........................................................................................................................................107
6.1.7. VG10/VGC10........................................................................................................................109
6.2. URCap Toolbar...............................................................................................................................113
6.2.1. 3FG15.................................................................................................................................... 115
6.2.2. HEX-E/H QC....................................................................................................................... 116
6.2.3. RG2-FT.................................................................................................................................118
6.2.4. RG2 / RG6........................................................................................................................... 121
6.2.5. Screwdriver....................................................................................................................... 122
6.2.6. SG.........................................................................................................................................123
6.2.7. VG10 / VGC10.................................................................................................................... 124
6.3. URScript Commands................................................................................................................... 125
6.3.1. 3FG15................................................................................................................................... 125
6.3.2. RG2-FT................................................................................................................................126
6.3.3. RG2/RG6.............................................................................................................................127
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6.3.4. Screwdriver........................................................................................................................127
6.3.5. SG.........................................................................................................................................128
6.3.6. VG10/VGC10......................................................................................................................129
6.4. TCP Configuration.........................................................................................................................131
6.5. Return Values................................................................................................................................ 135
6.5.1. HEX-E/H QC, RG2-FT.......................................................................................................135
6.6. Feedback Variables.....................................................................................................................136
6.6.1. 3FG15................................................................................................................................... 136
6.6.2. HEX-E/H QC.......................................................................................................................137
6.6.3. RG2-FT................................................................................................................................ 137
6.6.4. RG2 / RG6.......................................................................................................................... 138
6.6.5. Screwdriver....................................................................................................................... 139
6.6.6. SG........................................................................................................................................ 140
6.6.7. VG10 / VGC10.................................................................................................................... 140
6.7. Application Examples.................................................................................................................. 140
6.7.1. Screwdriver......................................................................................................................... 140
7. Additional Software Options....................................................................................................142
7.1. Compute Box.................................................................................................................................. 142
7.1.1. Interfaces.............................................................................................................................. 142
7.1.2. Web Client........................................................................................................................... 142
7.1.3. Web Client: Devices Menu.............................................................................................. 144
7.1.3.1. 3FG15.........................................................................................................................145
7.1.3.2. HEX-E/H QC............................................................................................................ 148
7.1.3.3. RG2/6........................................................................................................................149
7.1.3.4. RG2-FT..................................................................................................................... 150
7.1.3.5. Screwdriver............................................................................................................. 152
7.1.3.6. SG.............................................................................................................................. 154
7.1.3.7. VG10 / VGC10..........................................................................................................155
7.1.4. Web Client: Configuration Menu................................................................................... 156
7.1.5. Web Client: Path Menu.....................................................................................................157
7.1.6. Web Client: Update Menu............................................................................................... 158
7.1.7. Web Client: Account Settings......................................................................................... 160
8. Hardware Specification............................................................................................................164
8.1. Technical Sheets............................................................................................................................164
8.1.1. 3FG15.................................................................................................................................... 164
8.1.2. HEX-E QC............................................................................................................................ 170
8.1.3. HEX-H QC............................................................................................................................172
8.1.4. Quick Changers................................................................................................................. 173
8.1.5. RG2....................................................................................................................................... 174
8.1.6. RG2-FT.................................................................................................................................179
8.1.7. RG6........................................................................................................................................184
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8.1.8. Screwdriver.........................................................................................................................189
8.1.9. SG.........................................................................................................................................203
8.1.10. VG10...................................................................................................................................207
8.1.11. VGC10..................................................................................................................................216
8.1.12. Compute Box...................................................................................................................228
8.1.12.1. With 1.5A Wall Adapter (36W).......................................................................... 228
8.1.12.2. With 5A Wall Adapter (120W).......................................................................... 228
8.1.12.3. Compute Box I/O interface.............................................................................. 229
8.2. Mechanical Drawings.................................................................................................................229
8.2.1. Adapter Plate.................................................................................................................... 229
8.2.2. Angle Bracket.................................................................................................................. 230
8.2.3. Mountings.......................................................................................................................... 231
8.2.3.1. Quick Changer - Robot Side.............................................................................. 231
8.2.3.2. Quick Changer for I/O - Robot Side...............................................................232
8.2.3.3. Dual Quick Changer...........................................................................................233
8.2.3.4. HEX-E/H QC..........................................................................................................234
8.2.4. Tools................................................................................................................................... 235
8.2.4.1. 3FG15...................................................................................................................... 235
8.2.4.2. RG2-FT...................................................................................................................237
8.2.4.3. RG2.........................................................................................................................238
8.2.4.4. RG6.........................................................................................................................239
8.2.4.5. Screwdriver.......................................................................................................... 240
8.2.4.6. SG............................................................................................................................ 241
8.2.4.7. VG10........................................................................................................................242
8.2.4.8. VGC10.................................................................................................................... 244
8.2.4.9. Quick Changer - Tool Side............................................................................... 246
8.2.4.10. Compute Box......................................................................................................246
8.3. COG, TCP...................................................................................................................................... 246
8.3.1. 3FG15...................................................................................................................................247
8.3.2. HEX-E/H QC......................................................................................................................247
8.3.3. RG2-FT............................................................................................................................... 247
8.3.4. RG2..................................................................................................................................... 248
8.3.5. RG6.....................................................................................................................................248
8.3.6. Screwdriver.......................................................................................................................248
8.3.7. SG........................................................................................................................................ 248
8.3.8. VG10................................................................................................................................... 250
8.3.9. VGC10................................................................................................................................ 250
8.3.10. Angle Bracket.................................................................................................................250
9. Maintenance..............................................................................................................................253
9.1. 3FG15...............................................................................................................................................253
9.2. RG2/6............................................................................................................................................. 253
9.3. RG2-FT........................................................................................................................................... 253
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9.4. Screwdriver...................................................................................................................................254
9.5. SG....................................................................................................................................................256
9.6. VG10/VGC10................................................................................................................................. 256
10. Troubleshooting......................................................................................................................258
11. Warranties................................................................................................................................ 259
11.1. Patents............................................................................................................................................259
11.2. Product Warranty........................................................................................................................259
11.3. Disclaimer..................................................................................................................................... 259
12. Certifications........................................................................................................................... 260
12.1. Compute Box / Eye Box............................................................................................................. 261
12.2. 3FG15............................................................................................................................................262
12.3. RG2................................................................................................................................................263
12.4. RG2 / RG6....................................................................................................................................264
12.5. RG6............................................................................................................................................... 265
12.6. Screwdriver.................................................................................................................................266
12.7. SG................................................................................................................................................... 267
12.8. SG-x-H.......................................................................................................................................... 268
12.9. SG-x-S........................................................................................................................................... 270
12.10. Declaration of Incorporation..................................................................................................273
12.10.1. 3FG15................................................................................................................................273
12.10.2. HEX-E...............................................................................................................................274
12.10.3. HEX-H..............................................................................................................................275
12.10.4. RG2.................................................................................................................................. 276
12.10.5. RG2-FT............................................................................................................................ 277
12.10.6. RG6.................................................................................................................................. 278
12.10.7. Screwdriver.................................................................................................................... 279
12.10.8. SG.................................................................................................................................... 280
12.10.9. VG10................................................................................................................................. 281
12.10.10. VGC10............................................................................................................................282
6

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 its components:
Tools Version
3FG15 v1
RG2 v2
RG2-FT v2
RG6 v2
Screwdriver* v1
SG v1
VG10 v2
VGC10 v1
* 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.
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.
INTRODUCTION
7

The manual covers the following software/firmware versions:
Software Version
URCap v5.2.0
Compute Box v5.2.0
Firmware Version
SG* 1.0.18
*only when used on UR CB3 controller via tool connector. To update the SG firmware without
a Compute Box please contact your distributor.
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.
1.3. Naming Convention
1.3.1. HEX-E QC/HEX-H QC
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.
1.3.2. 3FG15
The 3FG15 product sometimes will be called TFG as Three-Finger Gripper.
1.3.3. RG2/RG6
The RG2 and RG6 names as model variants are used separately or together as RG2/6 if the
information is relevant for both variants.
INTRODUCTION
8

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
9

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
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.
SAFETY
10

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.
2.5. PLd CAT3 Safety Function
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.
SAFETY
11

If this happens while running the robot program, the following popup dialog will be shown.
When any of the buttons in this dialog is pressed , the safety system will show the following
popup dialog.
When any of the buttons in this dialog is pressed, the robot will be unlocked.
To reinitialize the gripper, open the toolbar and press the icon. Then, robot program can
be re-started.
SAFETY
12

CAUTION:
Before pressing the button 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.
NOTE:
If the robot program is started and one of the safety switches has been
previously pressed, the second popup will appear. The process to unlock the
gripper is the same.
SAFETY
13

2.6. Screwdriver Safety Features
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 has been 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 must be 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.
SAFETY
14

NOTE:
As mentioned in the technical sheet, this safety functionality will be achieved if
the screw length is up to 35 mm.
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 while running the robot program, it will stop, and the following popup dialog
will be shown.
After pressing any of these 2 buttons, the Screwdriver can be enabled by opening the toolbar
and pressing the button. Then, robot program can be re-started.
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.
SAFETY
15

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.
SAFETY
16

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.
There are two ways how the product(s) could be used on both UR series:
Modes of Operation
via Compute Box
works with all products and product combinations
via UR's Tool Connector
works with only one of these:
•3FG15 (Only on e-Series) or
•RG2 or
•RG6 or
•SG or
•VG10 or
•VGC10
Generally, the two modes of operation require the same installation/operation steps. Where
the two modes require dierent steps, it is highlighted and referred as:
•via Tool Connector
•via Compute Box
OPERATION MODE(S)
17

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. Mounting
Required steps:
•Optional - mount the Angle Bracket
•Mount the Quick Changer option
•Mount the tool(s)
In the following two subsections these two mounting steps will be described.
4.2.1. Optional - Angle Bracket
Angle Bracket
1. M6x10 screws (ISO14580 8.8)
2. Angle Bracket (ISO 9409-1-50-4-M6)
3. Dowel pin Ø6x10 (ISO2338 h8)
4. Adapter/Robot tool flange (ISO
9409-1-31.5-4-M5)
Use 10 Nm tightening torque.
NOTE:
If using the optional Angle Bracket, make sure to always adjust the TCP as
described in the 8.3.10. COG, TCP section. Otherwise some of the functionality
may not work properly.
NOTE:
With Angle Bracket the HEX-E/H QC and the Dual QC is not supported.
HW INSTALLATION
18

4.2.2. 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 RG2/6 RG2-FT Screwdriver VG10/VGC10
QC-R v2
QC-R v2-4.5 A
4.2.3. 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.
Quick Changer 3FG15 RG2/6 Screwdriver VG10/VGC10
Dual QC v2
Dual QC v2-4.5 A
HW INSTALLATION
19

4.2.4. HEX-E/H QC
HEX-E/H QC
1. HEX-E/H QC sensor
2. M4x6mm (ISO14581 A2)
3. M6x8mm (DIN7984LT A2)
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 3.8 Nm tightening torque for M6x8mm
4.2.5. Tools
4.2.5.1. 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.
HW INSTALLATION
20