READY FORGE Station User guide

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General Application Guide 
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The documentation, best practices, and recommendations provided by
READY Robotics do NOT constitute safety advice. Products sold through
READY Robotics are not by themselves a fully integrated workcell. As
required in ISO 10218-2, READY Robotics strongly recommends performing
a complete risk assessment of the integrated workcell per ISO 12100. You
may wish to use the methodology found in the ANSI/RIA TR R15.306 Task-
based Risk Assessment Methodology.
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Contents
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Uncrating procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Opening the crate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Removing your Forge/Station from the crate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Uncrating documentation and peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Preparing the crate to ship back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Startup the Forge/Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Overview of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Forge/Station 2.0 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Forge/Ctrl components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Connecting the Forge/Ctrl to power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Connecting the Forge/Ctrl to air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connecting the READY pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Turning ON the Forge/Ctrl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Turning OFF the Forge/Ctrl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Forge/OS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Initial configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Edit initial configuration details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Troubleshooting guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Steps for moving a Forge/Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Moving your Forge/Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Positioning your Forge/Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Using your Forge/Station's leveling feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Anchoring your Forge/Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
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Mounting procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Robot Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
UR degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
UR technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Moving the robot arm using Guide Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
oint limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Moving the robot arm using the Robot Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
ogging your robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
umping your robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
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Version
Version Release Date Change Log
1.1 10/12/2020 Initial Release
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Uncrating procedure
The Forge/Station 2.0 ships in a crate that you will return to READY. The design of the crate is sophisticated
enough to keep the system secure during transport but simple enough that uncrating the system is quick and
easy.
Overview
▪ Open your crate
▪ Remove your Forge/Station 2.0 from the crate
▪ Prepare the crate to send back
IMPORTANT: Before opening the crate, ensure that the ground is level and that the front side of the crate
has at least 10 feet of open space in front of its door and 4 feet of open space on the side with the trap
doors
TWO PEOPLE REQUIRED: Some of the steps in this uncrating section require two
people to safely complete. Attempting these steps without the aid of another individual
can pose a significant risk of injury or death.
Opening the crate
To the left and right of the front of the crate are butterfly latches. Follow these steps to release the latches and
open the crate.
TWO PEOPLE REQUIRED: When releasing the butterfly latches, have one person hold
the crate door closed so that it does not fall. Allowing the door to fall could result in
injury.
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Have one person hold the door shut (the door is hinged at the bottom).
1
Lift each latch and turn it a full rotation counterclockwise to unlock it. Follow the order in the picture in the
image from Step 1.
Opening the butterfly latch
2
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Lower the door of the crate so that it rests on the floor. This will act as a ramp for removing your Forge/
Station.
3
Flip down the hinged steel plate at the end of the ramp.
4
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Removing your Forge/Station from the crate
Remove the bottom block of wood using the attached handles. Set it aside somewhere where it will not
create a trip hazard. Do not throw it away, as all wood blocks and components of this crate must be sent
back to READY.
1
Release the ratchet strap by pressing in on the release lever and then unfolding it.
2
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Unhook both ends of the strap from the base of the stand. Set the ratchet strap aside somewhere where
it will not create a trip hazard. Do not throw it away, as it must be sent back to READY.
3
Repeat steps 2 and 3 for the strap on the other side of the Forge/Station.
4
Carefully pull out the READY pendant from the side of the crate. Carefully remove any protective foam or
plastic wrap around the pendant. Do not throw the foam away, as it must be sent back to READY.
5
Remove the side boards.
6
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Remove the front wood board.
7
On the right side of the crate, there are two trap doors. Release the butterfly latch on the top right trap
door. Open the door.
8
Remove the wood board that sits on top of the Forge/Station's steel tabletop. Rotating the board 90
degrees counterclockwise may help you get it out. Set it aside somewhere where it will not create a trip
hazard.
9
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TRIP HAZARD: Take caution when placing the wood blocks on the ground as they
can create a trip hazard.
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Beneath the Station and on either side of the front-most wheel are two leveling feet holding the Station in
place. You must raise these feet all the way off of the ground. If they are only partially raised, there is a
chance of them dragging when the Station is lowered down the ramp. Follow the steps below to raise the
leveling feet.
PINCH POINT WARNING: Take caution whenever raising or lowering the leveling
feet. Ensure that your hands are never between the Station and the jam nut or
between the floor and the bottom of a leveling foot. These areas form pinch points.
10
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Turn the handles on each foot counter-clockwise until the foot is a few inches off the ground. You
may need to rotate the jam nut clockwise to lower it closer to the foot.
1
Repeat this process for the leveling foot on the other side
Note: There is one other leveling foot at the back of the Forge/Station, but it is already raised.
2
With the help of another individual, remove your Forge/Station from its crate.
TWO PEOPLE REQUIRED: The Forge/Station is heavy and requires two people
to lower it down the ramp and onto your floor.
IMPORTANT: Do not pull on the arm or READY pendant to remove the Forge/Station from its crate.
11
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IMPORTANT Ensure that the arm is not rubbing against anything as you pull your Forge/Station out of
its crate.
Do NOT move your Forge/Station to your machine tool yet. Instead, move it to a level surface with 3
feet of space around it (so that you can train yourself to use the system without causing any collisions).
The location should also have access to an 80 - 110 psi air supply and a 120V power supply. There are
handles on either side of the Station that can be used to help move it.
Lock the wheels of your Forge/Station so that it won't move easily.
12
For added stability, you can deploy the leveling feet by following these steps.
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Turn the handles on your leveling feet clockwise to lower the feet. Once it contacts the floor and
you feel resistance continue turning it until one or both of the adjacent wheels are lifted off of the
floor.
1
Above each foot is a gray jam nut. Turn the nut counterclockwise so that it moves up towards the
stand. Use an adjustable wrench to tighten it.
2
Repeat this process with the other two leveling feet.
3
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Uncrating documentation and peripherals
Your documentation and peripheral devices are located in the top left storage compartment inside the crate.
To retrieve them, follow these steps.
Locate the butterfly latch on the underside of the storage compartment.
1
Lift the latch and turn it a full rotation counterclockwise to unlock it.
Opening the butterfly latch
2
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Preparing the crate to ship back
Follow these steps to prepare your crate for shipment back to READY.
Open the door and retrieve everything from the storage compartment.
HEAVY OB ECTS: Take caution to avoid injury when removing heavy boxes from
the compartment.
3
Close the door to the storage compartment and secure it shut with the butterfly latch. Follow these
directions to secure the butterfly latch here and in subsequent steps
Close the latch.
1
Twist the latch handle a full turn clockwise.
2
Flip the butterfly latch down.
3
1
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Close the butterfly latch
Neatly place the ratchet straps and wooden boards that held your stand in the crate back into the crate.
2
Neatly place the foam blocks that helped to protect your Forge/Station back into the crate.
3
Close any trap doors that you opened and secure their respective butterfly latches.
4
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