OnRobot VGC10 User manual

USER MANUAL
FOR UR ROBOTS
ORIGINAL INSTRUCTION (EN)
v1.05

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) .................................................................................................................11
4 Installation.............................................................................................................................12
4.1 Overview.........................................................................................................................12
4.2 Mounting........................................................................................................................ 12
4.2.1 Quick Changer options............................................................................................ 13
4.2.2 Tools......................................................................................................................15
4.3 Wiring .............................................................................................................................21
4.3.1 Tool data cable....................................................................................................... 22
4.3.2 Ethernet cable........................................................................................................ 23
4.3.3 Power supply..........................................................................................................24
4.4 Software setup ................................................................................................................ 25
4.4.1 Install URCap.......................................................................................................... 25
4.4.2 Uninstall software .................................................................................................. 27
1.1.1 URCap setup ..........................................................................................................30
5 Operation............................................................................................................................... 53
5.1 URCap commands............................................................................................................ 54
5.2 URCap toolbar............................................................................................................... 100
5.2.1 How to access the toolbar..................................................................................... 100
5.3 URScript commands....................................................................................................... 111
5.4 TCP Configuration .......................................................................................................... 113
5.5 ReturnValues................................................................................................................ 118
5.6 Feedback variables......................................................................................................... 119
6 Additional Software Options................................................................................................. 122
6.1 Compute Box................................................................................................................. 122
6.1.1 Interfaces............................................................................................................. 122
6.1.2 Web Client........................................................................................................... 122

Introduction
3
7 Hardware Specification......................................................................................................... 141
7.1 Technical sheets............................................................................................................. 141
7.2 Mechanical Drawings ..................................................................................................... 179
7.2.1 Adapter plate(s) ................................................................................................... 179
7.2.2 Mountings............................................................................................................ 179
7.2.3 Tools.................................................................................................................... 184
7.3 Center of Gravity............................................................................................................ 194
8 Maintenance........................................................................................................................ 196
9 Warranties........................................................................................................................... 199
9.1 Patents.......................................................................................................................... 199
9.2 Product Warranty .......................................................................................................... 199
9.3 Disclaimer...................................................................................................................... 199
10 Certifications........................................................................................................................ 200
1.1 Declaration of Incorporation........................................................................................... 206

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
resultin deathor seriousinjury.
1.2 Scope of the Manual
The manual coversthe followingOnRobot products and its components:
Grippers
Version
GeckoGripper
v2
RG2
v2
RG2-FT
v2
RG6
v2
VG10
v2
VGC10
v1
Sensors
Version
HEX-E QC
v3
HEX-H QC
v3
Where applicable the combination of the products is also coveredin the manual.
NOTE:
Generally, the products without the Quick Changerv2 interface, are not
in the scope of this manual.
1.3 Naming convention
In the usermanual Gecko Gripperis called Geckoonly.
The RG2 and RG6 namesas modelvariants are usedseparately ortogetherasRG2/6 if the information is
relevantforboth 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 relevantforboth variants.

Introduction
5
1.4 How to readthe Manual
The manual coversall OnRobotproductsand its components thatis available foryour robot.
To make it easyto follow whattype of product (orcombination) or componentis the given informationis
relevant for, the following visual highlights are used:
RG2
This is an instruction relevantforthe RG2 product only.
RG2-FT
This is an instruction relevantforthe RG2-FT productonly.
VG10
This is an instruction relevantforthe VG10product.
All textwithoutthese visualmarks are relevantfor all productsor 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 ensuringthat 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:
•Performinga risk assessmentforthe complete robotsystem
•Interfacingothermachinesand additional safety devices if defined bythe risk assessment
•Settingup the appropriate safetysettingsin the robot software
•Ensuring that the userwill not modify anysafety measures
•Validating that the total robot systemis designed andinstalledcorrectly
•Specifyinginstructionsfor use
•Marking the robotinstallation with relevantsigns and contact informationof the integrator
•Collecting all documentationin a technical file; including the risk assessment and thismanual
2.1 Intended Use
OnRobot tools are intended to be usedon collaborative robots and light industrial robots with different
payloads depending onthe end-of-armtoolingspecifications.OnRobottools are normally use in pick-and-
place, palletizing, machine tending, assembly, quality testing and inspection and surface finishing
applications.
The end-of-armtooling shouldonly operate underconditionsnotedin Technical sheets section.
Any use or application deviatingfromintended use is deemed tobe impermissible misuse. Thisincludes,
but is not limited to:
•Use in potentially explosive atmospheres
•Use in medical and life critical applications
•Use before performingarisk assessment
•Use outside the permissible operationalconditionsand 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 productmust be done in compliance withprecautions inthismanual.Particular
attention mustbe 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
resultin deathor seriousinjury.
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 countrywhere the robotis installed.
Any safety informationprovidedinthis manual mustnot be construedas
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
heldresponsible forany damagescausedto any of OnRobottoolstooling,
the robot, or any other equipment due to programming errors or
malfunctioningof anyof OnRobottools.
WARNING:
OnRobot tools are not allowed to be exposed to condensing conditions
when powerisonorwhen connected toarobot. If condensingconditions
appearduringtransportor storage, the productmustbe placed between
20 and 40 Celsiusdegreesfor24 hoursbefore powerisapplied or before
connected toa robot.
It is recommended that OnRobot tools are integrated in compliance with the following guides and
standards:
•ISO 10218-2
•ISO 12100
•ISO/TR20218-1
•ISO/TS15066

Safety
8
2.3 Risk Assessment
The robot integrator must perform a risk assessment on the complete robot application. OnRobot tools
are onlycomponentsinarobotapplicationandthereforetheycanbe onlysafelyoperated if theintegrator
has considered the safety aspects of the whole application. OnRobot tools are designed with relatively
smooth and rounddesignwith a limited amountof sharp edgesandpinch points
In collaborative applications, the trajectory of the robot can play a significant safetyrole. 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 movementis as large as possible. It is recommendedthatthe
tool connectorsare pointed in the direction opposite tothe movement.
OnRobot A/S have identified the potential hazards listed below as significant hazards that must be
considered bythe integrator:
•Objectsflying from OnRobot tools due to loss of grip
•Objectsfalling 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 getsstuck to something
•Workpiece itself representsahazard
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 diphenylethers.
Observe nationalregistrationrequirements forimportersaccording to EU WEEE Directive 2012/19/EU.

Safety
9
2.5 PLd CAT3 Safety Function
RG2
RG6
A safety-rated function has been designedastwo buttons at the two arms of the product, conformingto
ISO 13849-1 PLd CAT3.
This Safety Function has a max response time of 100 ms and a MTTF of 2883 years.
The behaviorof the safety systemisdescribedbelow:
If somethingactivates the twoSafety Buttons, see picture below, the safety controlsystem stopsmotion
of the twoarms of the product. Motion is then preventedaslong as one or both of the two buttons are
activated.
If this happens while running the robot program, the following popup dialog will be shown.
When anyof the buttons inthis dialog is pressed ,the safety systemwillshow the following popup dialog.
When any of the buttons in this dialog is pressed, the robotwill be unlocked.
To reinitialize the gripper, open the toolbar and pressthe icon. Then, robot program can be re-
started.
PLd CAT3 Safety Buttons

Safety
10
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 powerforbothsides.
NOTE:
If the robot program is started and one of the safety switches has been
previously pressed, the second popup willappear. The process to unlock
the gripper is the same.

Operationmode(s)
11
3Operation mode(s)
This documentcoversinstallation and operationfor both:
•UR CB3 series robot controllers
•and URe-Series robot controllers.
Since the two controllers have similar installation and operation screensin these cases only the e-Series
screensare shown. Where the two requiresdifferent steps orscreens itis highlightedand referred as:
•CB3 series
•e-Series.
There are two wayshow the product(s) could be used on both UR series:
Modesof Operation
via Compute Box
works with all products
and
product combinations
via UR's Tool Connector
works with only one of these:
- RG2 or
- RG6 or
- VG10/VGC10
Generally, the two modes of operation require the same installation/operation steps. Where the two
modes require different stepsitis highlighted and referredas:
•via Tool Connector
•via Compute Box

Installation
12
4Installation
4.1 Overview
For a successfulinstallation the following stepswill be required:
•Mountthe components
•Wire the cables
•Setup the software
In the followingsections, these installation stepswill be described.
4.2 Mounting
Required steps:
•Mountthe Quick Changeroption
•Mountthe tool(s)
In the following two subsections these twomountingstepswill be described.

Installation
13
4.2.1 Quick Changer options
Quick Changer -
Robot Side
Quick Changer - Robot Side
1
M6x8mm (ISO14580 8.8)
2
Quick Changer(ISO9409-1-50-4-M6)
3
Dowelpin 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
Dowelpin Ø6x10 (ISO2338 h8)
4
Adapter/ Robot tool flange (ISO
9409-1-50-4-M6)
Use 10 Nm tightening torque.

Installation
14
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 tighteningtorque. for
M6x8mm

Installation
15
4.2.2 Tools
Gecko.............................................. 15
RG2................................................. 16
RG2-FT ............................................ 17
RG6................................................. 18
VG10............................................... 19
VGC10............................................. 19
Quick Changer - Tool side................. 20
Gecko
Step 1:
Move the tool close to the Quick
Changeras 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. Mountingon the Primary (1) side will prevent the
devicesto functioncorrectly.

Installation
16
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
heara clicking sound.
To unmountthe tool, press the aluminumbutton
on the Quick Changerand repeatthe stepsin the
reverse order.
To change the relative angle of the gripper
to the Quick Changer:
•first remove the fourM4x6 screws
•tilt the gripperbetween -90° and 90°
•then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.
WARNING:
Neveruse the device while any of the four M4x6 screws are removed.

Installation
17
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
heara clicking sound.
To unmountthe tool, press the aluminumbutton
on the Quick Changerand repeatthe stepsin the
reverse order.
To change the relative angle of the gripper
to the Quick Changer:
•first remove the fourM4x6 screws
•tilt the gripperbetween -60° and 90°
•then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.
WARNING:
Neveruse the device while any of the four M4x6 screwsare removed.

Installation
18
RG6
Step 1:
Move the tool close to the Quick
Changeras 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 fourM4x6 screws
•tilt the gripperbetween -90° and 90°
•then put the four M4x6 screws back
and use 1.35 Nm tightening torque
to fix it.
WARNING:
Neveruse the device while any of the four M4x6 screws are removed.

Installation
19
VG10
Step 1:
Move the tool close to the Quick
Changeras illustrated.
The hook mechanism (rod and hook
tongue) will keep the lower part
lockedonce 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 Changerand repeatthe
steps in the reverse order.
VGC10
Step 1:
Move the tool close to the Quick
Changeras illustrated.
The hook mechanism (rod and hook
tongue) will keep the lower part
lockedonce 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 Changerand repeatthe
steps in the reverse order.

Installation
20
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
heara clicking sound.
To unmountthe tool, press the aluminumbutton
on the Quick Changerand repeatthe stepsin the
reverse order.