QB Robotics qb SoftHand RESEARCH User manual

Please read carefully these instructions before use. Do not discard: keep for future reference.
USER GUIDE FOR UNIVERSAL ROBOT

www.qbrobotics.com
Dear customer,
Thank you for purchasing our product.
The present document provides information at best of our knowledge at the time of
publication. This document could present differences from the product and it is subject
to changes without notice: the latest version is available on our webpage
www.qbrobotics.com .
qbrobotics s.r.l. does not assume any responsibility for errors or omissions.
In no case qbrobotics s.r.l. will be responsible for any loss, problems or damages to
persons or property arising from the use of this document.
The qb® logo and qbrobotics® are registered trademarks of qbrobotics s.r.l. The
indications of (R) are omitted.
Release 1.0 08/03/2018

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Summary
1Preface.................................................................................................................................. 2
1.1 Using this document ...................................................................................................... 2
1.2 Symbols and conventions............................................................................................... 2
2Safety.................................................................................................................................... 3
2.1 Safety instructions ......................................................................................................... 3
2.2 Environmental conditions .............................................................................................. 4
2.3 EC Directives on product safety ..................................................................................... 4
3qb SoftHand technical data .................................................................................................. 5
4Getting started...................................................................................................................... 7
4.1 SoftHand mounting........................................................................................................ 7
4.2 cable connections .......................................................................................................... 8
4.3 Software upload to UR controller .................................................................................. 9
4.4 URCap plugin installation ............................................................................................... 9
5Working with qb SoftHand URCap Plugin ........................................................................... 10
6Maintenance and warranty ................................................................................................ 13
7Appendix............................................................................................................................. 14
7.1 Troubleshooting........................................................................................................... 14
7.2 Software uninstallation................................................................................................ 14

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1Preface
1.1 Using this document
The documentation must always be complete and in a perfectly readable state.
Keep the document accessible to the operating and, if necessary, maintenance
personnel at all times.
Pass the document to any subsequent owner or user of the product.
1.2 Symbols and conventions
WARNING: identifies information about practice or
circumstances that can lead to personal injury. Attentions help
you identify a hazard, avoid a hazard, and recognize the
consequence.
Courier text
Identifies file paths, file names and sw functions.

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2Safety
2.1 Safety instructions
WARNING:
•Check that all the contents is intact after removing it
from the packaging.
•Keep away from children and pets. Always set off or
unplug when not in use.
•Never use aerosol products, petroleum based
lubricants or other flammable products on or near the
end-effectors.
•Do not use any damaged power cable, plug, or loose
outlet. It may cause fire or damage to people.
•Make sure the end-effector is properly and securely
bolted in place.
•Do not use if damaged or defective. Do not
disassemble.
•Do not insert any objects between moving parts of the
fingers.
•Keep head and face outside the reach of the end-
effector.
•Do not wear loose clothing or jewelry when working
with the end-effector.
•Disconnect the power supply before cleaning or
maintenance.
•Disrespect of these precautions can affect safety of the
device.

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2.2 Environmental conditions
WARNING:
•Do not keep or operate the end-effector in a place with
high temperature or humidity.
•This product is not waterproof. Never operate the
product in a wet place.
•For indoor use only.
2.3 EC Directives on product safety
•The following EC directives on product safety must be observed.
•If the product is being used outside the UE, international, national and
regional directives must be also observed.
Machinery Directive (2006/42/EC)
Because of their small size, no serious threats to life or physical condition can normally
be expected from electric miniature drivers. Therefore, the Machinery Directive does
not apply to our products. The products described here are not “incomplete
machines”, so installation instructions are not normally issued by qbrobotics.
Low Voltage Directive (2014/35/EU)
The Low Voltage Directive applies for all electrical equipment with a nominal voltage
of 75 to 1500 V DC and 50 to 1000 V AC. The products described in this device manual
do not fall within the scope of this directive, since they are intended for lower voltages.

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3qb SoftHand research technical data
Figure 3.1 shows the overall dimensions of the qb SoftHand research. Electrical and
Mechanical characteristics of the hand are shown, respectively, in Table 3.1 and Table
3.2.
Figure 3.1 qb SoftHand research dimensions.
Electrical data
Nominal Voltage
[V]
24VDC
Power cons.
Nominal
[W]
30
Motionless
[W]
1.4
Current limit
at nominal
conditions
Nominal, Anom
[A]
0.75
Max. operation time
[s]
300
Max. duty cycle
[%]
69
Current limit
at peak
conditions
Peak, Apeak
[A]
1.1
Max. operation time
[s]
20
Max. duty cycle
[%]
56
Table 3.1 Electrical characteristics of the qb SoftHand research.

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Mechanical data
Weight
[Kg]
0.5
fingers
Number
[#]
5
joints
Total
[#]
19
Rigid
[#]
5
Mobile
[#]
14
Motors
DC brushed
[#]
1
Nominal Payload
nom
peak
power grasp
[Kg]
1.7
1.7
pinch grasp
[Kg]
0.83
0.83
hanging
[Kg]
20
20
Max grasp force
power grasp
[N]
62
75
pinch grasp
[N]
11
11
Cycle time
Full closing
[s]
1.1
Full opening
[s]
1.1
Duration
N. of cycles
[#]
50000
Table 3.2 Main mechanical characteristics of the qb SoftHand research. For further details please see the
datasheet.

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4Getting started
The qb SoftHand research UR Kit allows you to connect the qb SoftHand research to
you UR robot arm.
The kit consists of:
•N.1 qb Softhand research 24V (variant pinch or power kinematics);
•N.1 ISO 9409-1-50-4-M6 flange adapter;
•N.1 qb dummy;
•N.1 main cable of 5m;
•N.1 power cable;
•N.1 USB cable of 0.5m;
•N.1 USB pendrive;
•N.4 M6x10 screws;
•N.5 M4x12 screws.
4.1 SoftHand research mounting
Use only the screws provided within the package. Longer screws could damage the
robot or the hand.
External tools needed are:
•2.5mm Allen wrench;
•5mm Allen wrench;
•Torx t15 screwdriver.
Referring to the scheme of Figure 4.1, to assemble the hand on the robot arm, please
follow the instructions:
i. Fasten ISO 9409-1-50-4-M6 flange adapter (2) to the robot tool flange (1)
using n.4 M6x10 screws (3) (use the 5mm Allen wrench);
ii. Insert ISO 9409-1-50-4-M6 flange adapter (2) into the hand wrist interface (5)
on the back of the hand;

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iii. Fasten ISO 9409-1-50-4-M6 flange adapter to the hand wrist interface using
n.5 M4x12 screws (4).
Figure 4.1 SoftHand research assembly scheme on the robot. 1) robot tool flange; 2) ISO 9409-1-50-4-M6
flange adapter; 3) M6x10 screw (n. 4 pcs.); 4) M4x12 screw (n. 5 pcs.); 5) hand wrist interface; 6) SoftHand
research.
4.2 cable connections
Figure 4.2 Scheme of cable connections between the qb SoftHand research and the UR. The blue arrows
are mechanical connections while the green ones are electric. 1) UR control box; 2) qb dummy; 3) control
box plate screws; 4) power cable; 5) USB cable; 6) main cable.