OnRobot RG2 User manual

Original
User Manual
By On Robot ApS
RG2
Industrial Robot Gripper

RG2 User Manual –version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
Content
1Preface....................................................................................................... 1
1.1 Scope of delivery.................................................................................................. 1
1.2 Important safety notice......................................................................................... 1
2Introduction ................................................................................................ 2
3Safety instructions...................................................................................... 2
3.1 Validity and responsibility..................................................................................... 2
3.2 Limitations of liability............................................................................................ 2
3.3 Warning symbols in this manual........................................................................... 3
3.4 General warnings and cautions............................................................................ 4
3.5 Intended use ........................................................................................................ 5
3.6 Risk assessment.................................................................................................. 5
4Mechanical interface .................................................................................. 6
4.1 Mounting the gripper ............................................................................................ 6
4.2 Mechanical dimensions........................................................................................ 7
4.3 Load capacity....................................................................................................... 8
4.4 Fingers................................................................................................................. 8
4.5 Gripper Work Range............................................................................................ 9
4.5.1 Finger thickness ....................................................................................................................9
4.5.2 Gripping speed .....................................................................................................................9
5Electrical interface.................................................................................... 10
5.1 Tool connections................................................................................................ 10
5.1.1 Power supply..................................................................................................................... 10
6Technical.................................................................................................. 11
6.1 Technical Specifications..................................................................................... 11
7Gripper programming............................................................................... 12

RG2 User Manual –version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
7.1 Quick Start ......................................................................................................... 12
7.2 Programming introduction.................................................................................. 14
7.3 Gripper control ................................................................................................... 15
7.3.1 Control variables................................................................................................................ 15
7.3.2 Teach Mode....................................................................................................................... 15
7.3.3 Control script/functions...................................................................................................... 15
7.3.3.1 Adding a script file .....................................................................................................................16
7.3.3.2 Adding a function.......................................................................................................................18
7.3.4 Control outputs signals...................................................................................................... 19
7.4 Gripper feedback................................................................................................ 19
7.4.1 Feedback variables ........................................................................................................... 20
7.4.2 Feedback input signals...................................................................................................... 20
7.4.2.1 Digital feedback .........................................................................................................................20
7.4.2.2 Analog feedback ........................................................................................................................20
7.4.3 LED feedback.................................................................................................................... 20
7.5 Two Grippers...................................................................................................... 21
7.6 Add RG2 to existing robot program.................................................................... 22
8Declarations and certificates .................................................................... 25
8.1 CE Declaration of Incorporation (original) .......................................................... 25

RG2 User Manual –version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
1
1 Preface
Congratulations on your new RG2 Industrial Robot Gripper.
The RG2 is an electrical industrial robot gripper that can handle a variation of different object sizes. Typically for
pick and place applications. The gripping force as well as the gripping width can be preset to custom
requirements.
1.1 Scopeofdelivery
The appearance of the delivered components may be different from the images and illustrations in this manual.
1.2 Importantsafetynotice
The Gripper is partly completed machinery and a risk assessment is required for each application the gripper is a
part of. It is important that all safety instructions herein are followed.
1x RG2 Industrial Robot Gripper
1x RG2 Mounting Coupling
2x RG2 Fingertips
1x USB Flash Drive
-Software
-Manual
1x Bag of bolts

RG2 User Manual –version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
2
2 Introduction
The RG2 is an industrial robot gripper. Designed for grabbing objects, typically used in pick and place applications.
Its long stroke allows it to handle a variety of object sizes and the option to adjust the gripping force allows the
gripper to handle both delicate and heavy objects. The standard fingers can be used with many different objects,
but it is also possible to fit custom fingers. The installation complexity is minimal as the RG2 cable attaches
directly onto any supported robot. All configuration of the gripper are controlled in the robot software.
3 Safety instructions
3.1 Validityandresponsibility
The information in this manual is not a guide to design a complete robotic application. The safety instructions is
limited to the RG2 gripper only and does not cover the safety precautions of a complete application. The
complete application must be designed and installed in accordance with the safety requirements specified in the
standards and regulations of the country where the application is installed.
The application 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 application are eliminated.
This includes, but is not limited to:
Making a risk assessment for the complete application.
Validating that the complete application is designed and installed correctly.
3.2 Limitationsof liability
The safety instructions and other information in this manual is not a guarantee that the user wont suffer injury.
Even if all instructions are followed.

RG2 User Manual –Version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
3
3.3 Warning symbolsinthismanual
DANGER:
This indicates a serious dangerous situation which, if not avoided,
could result in death or injury.
WARNING:
This indicates a potentially hazardous electrical situation which, if
not avoided, could result in injury or major damage to the equipment.
WARNING:
This indicates a potentially hazardous situation which, if not
avoided, could result in injury or major damage to the equipment.
CAUTION:
This indicates a situation which, if not avoided, could result in
damage to the equipment.
NOTE:
This indicates additional information such as tips or recommendations.

RG2 User Manual –Version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
4
3.4 Generalwarnings andcautions
This section contains general warnings and caution.
WARNING:
1. Make sure that the Gripper is properly mounted.
2. Make sure the gripper is not collided into obstacles.
3. Never use a damaged Gripper.
4. Make sure not to have any limbs in contact with or between the Gripper fingers and finger
arms, when it is operating or in teach mode.
5. Make sure to follow the safety instructions of all equipment in the application.
6. Never modify the Gripper. A modification might cause dangerous situations. On Robot
DISCLAIMS ANY LIABILITY IF THE PRODUCT IS CHANGED OR MODIFYED IN ANY WAY.
7. When mounting external equipment such as custom fingers make sure that the safety
instructions both herein and in the external manual are followed.
8. If the gripper is used in applications were it is not connected to a UR robot.
Make sure the connections resembles the analog input, digital in and outputs
and the power connections. Make sure you use a RG2 gripper programming
script that are adapted to fit your specific application.
For more information, please contact your supplier.
CAUTION:
1. When the gripper is combined with or working with machines capable of damaging the
gripper, then it is highly recommended to test all functions separately outside the potentially
hazardous workspace.
2. When the gripper feedback (I/O ready signal) is relied upon for continuing operation and a
malfunction will cause damage to the gripper and/or other machines, it is highly
recommended to use external sensors in addition to the gripper feedback for insuring correct
operations even if a failure should occur. On Robot cannot be held responsible for any
damages caused to the gripper or other equipment due to programming errors or
malfunctioning of the gripper.
3. Never let the gripper come into contact with corrosive substances, soldering splashes or
abrasive powders as they may damage the gripper. Never let personnel or objects stand
within the operating range of the gripper. Never operate the gripper if the machine on which
it is fitted does not comply with safety laws and standards of your country

RG2 User Manual –Version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
5
3.5 Intendeduse
The Gripper is industrial equipment and intended as an end effector or tool for industrial robots. It is intended for
pick and place operations of a variety of different objects.
The RG2 gripper is intended for use with robots from Universal Robots. The information in this manual about
electrical connections, programming and use of the gripper are described only for robots from Universal Robots.
CAUTION:
Use without a UR robot is not described in this manual and misuse can cause damage to the gripper
or the connected equipment.
Collaborative use of the gripper, were humans are close to or within the work area, is only intended for non-
hazardous applications, where the complete application, including the object, is without any significant risks
according to the risk assessment of the specific application.
Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes, but
is not limited to:
1. Use in potentially explosive environments.
2. Use in medical and life critical applications.
3. Use before performing a risk assessment.
3.6 Riskassessment
It is important to make a risk assessment. Since the Gripper itself is considered partly completed machinery, it is
also important to follow the guidelines in the manuals of all additional machines in the application.
It is recommended that the integrator uses guidelines in ISO 12100 and ISO 10218-2 to conduct the risk
assessment.
Below is listed some potential dangerous situations that the integrator as a minimum must take to consideration.
Please note that there can be other dangerous situations depending on the specific situation.
1. Entrapment of limbs between the grippers finger arms.
2. Penetration of skin by sharp edges and sharp points on the object.
3. Consequences due to incorrect mounting of the gripper.
4. Objects falling out of the gripper, e.g. due to incorrect gripping force or to high acceleration from a robot.

RG2 User Manual –Version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
6
4 Mechanical interface
The Gripper is constructed such a way that should a power loss occur, it will maintain the gripping force.
4.1 Mountingthegripper
The design of the standard gripper coupling is in such a way, that the angle of the gripper can be adjusted from 0°
to 180° in steps of 30°.
Mount the gripper coupling with 4 pcs M6x8 bolts.
Tighten the bolts with minimum 7Nm.
Mount 4-6 pcs M4x8 bolts.
Tighten the bolts with minimum 2Nm.
DANGER:
Make sure that the gripper is properly mounted using correct torque to tighten the bolts. Incorrect
mounting can result in injury.
CAUTION:
The M4 threads in the gripper are 6mm deep. Do not exceed this.

RG2 User Manual –Version 1.44
Specifications is periodically reviewed and may change without notice Copyright © 2015 –2016 by On Robot ApS. All rights reserved
7
4.2 Mechanical dimensions
The dimensions are in millimeters