ROBOTIQ CNC Machine Tending Kit User manual

Robotiq CNC Machine TendingKit
for e-SeriesUniversal Robots
Instruction Manual
CNC Machine Tending Kit
robotiq.com | leanrobotics.org
Original Notice
© 2019.Robotiq,Inc.

Robotiq CNC Machine Tending Kit Instruction Manual
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Robotiq CNC Machine Tending Kit Instruction Manual
Revisions 5
1. GeneralPresentation 7
1.1. Introductionto the Hand-Egripper 7
1.2. Custom Fingers 9
1.3. IntroductiontotheMachineTending Copilot 10
1.4. Introductionto the Wrist Camera 10
2. Safety 15
2.1. Warning 15
2.2. Intended Use 16
3. Installation 17
3.1. Scope of Delivery 18
3.2. Required Toolsand Equipment 19
3.3. Environmentaland Operating Conditions 20
3.4. MechanicalInstallation 22
3.5. Software Installation 24
4. Control 32
4.1. Overview 32
4.2. Controlling yourHand-Egrippers 32
5. Machine Tending Copilot Functionalities 51
5.1. Find Contact Offset 53
5.2. Apply Contact Offset 57
5.3. Multipoint Path 57
5.4. Find Surface 61
5.5. ActiveDrive Toolbar 63
5.6. PathRecording 69
5.7. InsertionNode 71
5.8. Force ControlNode 76
5.9. Force Event 82
5.10. CollisionDetection 83
6. Machine Tending withthe Wrist Camera 85
6.1. Cam LocateNode 85
6.2. ScanCodeNode 105
6.3. FindVisual Offset andApplyVisualOffset Nodes, andDefining Tags 109
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Robotiq CNC Machine Tending Kit Instruction Manual
6.4. Save Image Node 114
7. UserInterface 116
8. Specifications 117
8.1. Technicaldimensions 117
8.2. Mechanicalspecifications 122
8.3. Electricalspecifications 124
8.4. Image Specifications 125
9. Maintenance 127
9.1. GripperMaintenance 128
9.2. Routine Inspection 129
9.3. Cleaning Racksand PinionMechanisms 129
10. Spare Parts, Kitsand Accessories 131
11. Troubleshooting 133
11.1. Troubleshooting GrippersUsing LED Colors 133
11.2. Troubleshooting GrippersUsing the TeachPendant 133
11.3. Troubleshooting the Wrist Camera Using LED Colors 133
12. Hand-EWarrantyand Patent 135
13. Hand-EHarmonized Standards, Declarationsand Certificates 136
13.1. Translationof originalEC declarationof incorporation 136
13.2. Appliedstandards 138
13.3. IngressProtectionCertificate 139
14. Wrist CameraWarrantyand Patent 140
15. Wrist CameraHarmonized Standards, Declarationsand Certificates 142
15.1. Declarationof Incorporation 142
15.2. IngressProtectionCertificate 143
16. Contact 144
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Robotiq CNC Machine Tending Kit Instruction Manual
Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsor changesin
specifications.If suchmodificationismade,theInstruction Manual will also be revised:seerevision information.Seethelatest version
of thismanual online at robotiq.com/support.
Revision2019/11/12
lStandardized appearance of tablesthroughout the InstructionManual.
lSection "Cam LocateNode":
lRenamed subsection"Settings" to CameraLocateSettings"
lAdded typical use tipsforoptionsunderthe"CameraLocateSettings" window
lAdded "Auto Pick" subsection
lSection"ScanCodeNode":
lAdded subsection "Guidelineson Reading Codes"
lAdded subsection"StringsDataStored inCSVFiles"
lSection"Object Teaching":removed all mentionsof the"Play" buttonand "QuestionMark" buttonwhichwereused to accesscon-
textual help contents.Thiscontextual help hassincebeenremoved from theWrist CameraURCap.
Revision2019/10/10
lOfficial release.
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Robotiq CNC Machine Tending Kit Instruction Manual
Copyright
© 2019.All rightsreserved.
Thismanual and the product it describesareprotected bythe Copyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and therefore may not be reproduced in wholeor inpart,whetherfor sale or not,without prior writtenconsent from Robotiq.
Undercopyright law,copying includestranslationinto anotherlanguage orformat.
Informationprovided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by
Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and the product if theproduct hasbeen modified afterthe
edition date.
Theinformationcontained inthisdocument issubject to changewithout notice.
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1.General Presentation
TheCNCMachineTending Kit isa Robotiq product that bundlestwo Hand-Egrippers,two setsof FingertipsExtender,two setsof 2F-
85FingertipsConversionKit and optionally,theWrist Camera.On thesoftwareside,thiskit includestheMachineTending Copilot.
Thiskit aimsto streamline machine tending applicationsbyinstalling two gripperson asinglerobot,which reducescycle timeforpick
and place operations.Moreover,theCNCMachine Tending Kit leveragesRobotiq Copilot softwareto createrobot programsthat self-
correct their waypointsbased onphysical feedback,orbyusing theWrist Camerafor visual feedback.Thismakesrobot programsmore
robust,and should reduceproductionstops.It also meansthat robot programsrequirefeweradjustmentswhenused fordifferent
machinesorworkenvironments.
For further detailsontheHand-Egripper,on theWrist Camera,oronCopilot capabilities,pleasereferto theinstructionmanual of each
product,found on robotiq.com/support.Thecurrent instructionmanual includesbasicinformation on all previouslymentionned
devices.
Info
Thismanual usesthemetricsystem.Unlessotherwisespecified,alldimensionsare inmillimeters.
Caution
The following section presentsthekeyfeaturesof theproduct,and must not be considered asappropriateto itsoperation.
Product featuresaredetailed in relevant sectionsof theInstruction Manual.
Read and understand safetyguidelinesbeforeattempting to useyourproduct.
1.1.Introductionto the Hand-Egripper
1.1.1.Grippernomenclature
The Hand-Egripperisaparallel gripper.Itstwo fingersareactuated byasinglemotor.
Fig.1-1:Robotiq Hand-Egripper.
Pleasereferto theand Spare Parts,Kitsand Accessoriesfordetailsonstandard and optional parts.The Hand-Ebasicgripperunit
includesflat rubber (NBR)overmolded aluminumfingers(NBR overmold isnot illustrated inFigure1.1:Robotiq Hand-Egripper).
Theusercaninstallfingersdirectlyon racks,orfastenfingertipsto fingertip holders,which areinturninstalled onracks.Referto the
MechanicalInstallationfor moreinformationon howto integrate custom fingersand fingertipsto Hand-E.
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Robotiq CNC Machine Tending Kit Instruction Manual
Fig.1-2:Mounting afingeron a rack.
WhenHand-Eisordered asakit (see Installation),afingertip starting kit isincluded (seeSpare Parts,Kitsand Accessories).These
fingertipsshould be mounted onto fingertip holders.
Fig.1-3:Mounting afingertip on a fingertip holder(example).
Tip
Youcancustomizefingersand fingertips.Mount custom fingerson racks,and fingertipsonfingertip holders.
1.1.2.Object picking
The Hand-Egripperhasa single actuatorforopening and closing thefingers.It also allowsinternal gripping:fingerscanpickhollow
partsfrom inside by applying pressure with theoutersurface of the fingers.
Seethe figurebelowfor arepresentationand refer to theControlfordetailsonavailable positioncommandsforyourgripper.
Fig.1-4:Hand-Egripperinternal (left)and external (right) gripping.
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Robotiq CNC Machine Tending Kit Instruction Manual
1.1.3.Setup and control
Hand-Eispowered and controlled directlyvia a singledevicecablethat carriesa24VDCsupplyand ModbusRTUcommunication
overRS-485.Seethe Installationforwiring information and sectionControlfor controlling thegripper(softwarepackagesareavailable
forcontrol viasometypesof robot controllers).
A grippercoupling isrequired to use Hand-E;providing mechanical and electrical connectivity.Seethe Installationto install the
coupling,theTechnicaldimensionsfortechnical drawings,and theSpare Parts,Kitsand Accessoriesforalist of availablecouplings.
Hand-Ehasanembedded object detectionfeature based on indirect sensing methods.Whenpicking anobject withthe"go to"
command,thegripperstatusindicateswhetherornot anobject hasbeenpicked,using onlyanobject detectionbit (0or1).Whenan
object isdetected,thegripperno longerincreasesthe forceexerted ontheobject.If the object isbeing dropped,thegripper
automaticallyexertsmoreforceuntil theobject isdetected oruntil theposition target from the"go to command" isreached.For
detailsonobject detection,seesectionControl.
1.2.Custom Fingers
TheCNCMachineTending Kit makesyourgripperseven moreversatile thanbefore.WiththeFingertipsExtender,you canwidenthe
grip to grasp largerobjects.The 2F-85 FingertipsConversion Kit kickstarts the tooling processof your owncustom fingersbyproviding
aninstallationframe,orhelpsreusing legacyfingersfornewapplications.Inaddition,theCNCMachineTending Kit isbundled with
threesetsof Hand-Efingers,aswell asV-groove fingertips(v4)manufactured forthe2-FingerAdaptive Robot Gripper.
To mount aFingertipsExtenderto agripperrackor to mount fingers/fingertipsontheFingertipsExtender,seesection Installation.
Fig.1-5:Hand-Efullyclosed withFingertipsExtenderand V-groovefingers.
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Robotiq CNC Machine Tending Kit Instruction Manual
Fig.1-6:Hand-Efullyopened with FingertipsExtenderand
V-groovefingers.
1.3.Introductionto the Machine Tending Copilot
Force Copilot isasoftwarepackagedesigned to useforceand torquevaluesread byaforce-torquesensor (FT300),insupport to
roboticapplications.The collected data canthenbe leveraged for applicationssuch asguiding robot hands,force control,assembly,
product testing,and muchmore.ForceCopilot functionalities,suchasthe Visual Offset (using theoptional Wrist Camera)and Contact
Offset nodes,help unlockthefull potential of theCNCMachine Tending Kit.
Force Copilot requiresaproduct license,whichisstored onalicense dongleprovided withyourKit.The licensedongle must remain
connected to yourrobot controllerto use ForceCopilot functionalities.
Fig.1-7:ForceCopilot licensedongle.
1.4.Introductionto the Wrist Camera
The terms"Camera" and "Wrist Camera" used inthefollowing InstructionManual all referto the "Robotiq Wrist Camera",whilethe
term "Vision" and "VisionSystem" all referto the"Robotiq Wrist CameraVisionSystem" for UniversalRobots.
The Vision System usesthe Robotiq Wrist Cameraand theCam Locate node on Universal Robots to provide you with a simpleobject
teaching interface.
The interface allowsyou to set up the Vision System so that it can recognize object locationsand orientationsautomatically.TheVision
System,using theCam Locate feature,isonlydesigned to locate on object at a time ona predefined workplane.It getstheobject
position (x,y)and orientationalong thez-axis.You can thenoperate therobot based ontheobject location.TheWrist Camerais
designed forindustrial applications,to becombined withRobotiq adaptive grippers Hand-E,2F-85and 2F-140.
1.4.1.Vision SystemComponents
The figure belowdescribesthevariouscomponents of the Robotiq Vision System for Universal Robots.This system usesthe Robotiq
Wrist Camerawith anyUniversal Robotsmodel using a robot controllermodel CB3.1and up.For alist of provided components,see
theScope of Deliverysectionof theWrist CameraInstruction Manual.
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Robotiq CNC Machine Tending Kit Instruction Manual
Caution
The Robotiq Vision System isonlycompatible with Universal Robotsmodelsusing acontrollerversion of CB3.1 and up,as
well aswith anye-Seriesreleases.To identifyyourcontrollerversion,contact yourUniversal Robotsrepresentative.
Fig.1-8:Schematicrepresentation of theRobotiq Wrist CameraVisionSystemhardware.
MoredetailsontheWrist Cameraareavailablein subsectionWrist Camera,aswell asin theproduct InstructionManual.
1.4.2.Snapshot Positionand Workspace
The figure belowillustratesthevarioustermsused in thefollowing Instruction Manual to describe theVisionSystem conceptsof
"snapshot position" and "workspace".The process to locate an object alwaysstartsfrom a snapshot position.That position defines
thefield of viewof theWrist Camera,what wecall theworkspace.Seethe "Snapshot Position" sectionof theWrist CameraInstruction
Manual on howto teach asnapshot position.
Fig.1-9:Schematicrepresentation of theRobotiq VisionSystemconceptsof snapshot positionand workspace.
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Robotiq CNC Machine Tending Kit Instruction Manual
And Now, Some Terminology
snapshot position Robot poseused to takesnapshotswiththeWrist Camera.
workspace Areaof interest fortheVisionSystem.Fitsthefield of viewof theWrist Camera.
object Object to locateusing the VisionSystem.
calibrationboard Grid provided withtheWrist Camera.Used inthecalibration processof thesnapshot
position.
1.4.3.Object Location
The Vision System usesthe Cam Locate node to locate an object. Theillustration belowrepresentsthe object locationprocess.For
moredetails,seetheWrist CameraInstructionManual,section"Programming with theCameraLocatenode".
Fig.1-10:Diagram of the object location process.
And Now, Some Terminology
object to locate Object to locateusing coordinatesx,y,and Rz(rotation).
camera locate relative frame Reference frame asupdated bythe Vision System to locate an object.
robotbase referenceframe Framecoordinatesdefined as[0,0,0].
1.4.4.Hardware
Thehardwareat thecoreof theVisionSystem isthe Wrist Camera,showninthefigurebelow.To install theWrist Camera,referto the
Installationof thecurrent Instruction Manual.
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Robotiq CNC Machine Tending Kit Instruction Manual
Fig.1-11:Wrist Camerahardware.
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Robotiq CNC Machine Tending Kit Instruction Manual
Herearesomehardwarespecificationsof theWrist Camera:
Hardware Specifications
CMOS imagesensor withliquid lens lResolution:0.3to 5 Mpx
lFramerate: 2to 30FPS
lFocus: 70mm to ∞
6LED lDiffusewhitelight
lAutomaticcontrol
high-flex10-meter pigtail cable lUSB2.0
l24VDCpower
tool flange: ISO9409-1:2004 4 X M6ø50mm bolt pattern lWrist Cameraismounted onthetool flange
lGrippersaremounted on theWrist Camera
Info
The Robotiq Wrist Cameraprovidesadirect mounting interfacefor grippers,including a mechanical interface,24Vpower,
and gripper-robot communicationcapabilities.
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2.Safety
Warning
Operatorsmust read and understand all instructionscontained inthismanual priorto operating theCNC Machine Tending
Kit.
Info
"Operator" refersto the person inchargeof operating theCNCMachine Tending Kit forthefollowing activities:installation,
control,maintenance,inspection,calibration,programming ordecommissioning.
Thecurrent document coversthe variouscomponentsof theCNCMachine Tending Kit,and itsbroad applications,considering the
product full lifecycle,starting withtheinstallation,thenoperation,and finally,itsdecommissioning.
Illustrationsshown inthecurrent Instruction Manual aretypical examples.However,theproductsyou receivemaybe slightlydifferent.
2.1.Warning
Info
Pleasecomplywithall warningscontained in thisInstruction Manual regarding theoperationof theCNCMachine Tending Kit
and of itscomponents.Otherusesmayresult ininjuryordamage.
Warning
lSecuretheWrist Camera,thedual adapter,and bothHand-Egrippersto thetool flangebeforeoperating therobot.
lDo not install/operatedeviceswhicharedamaged orwhichhavepartsmissing.
lDo not supplyalternativecurrent to devices.
lSecureallcablesand cordsbothat devicelevel,and along therobot arm.
lFollowrecommended keying for electrical connections.
lPriorto initializing arobot program,make sure thepathof therobot orof itsattached devicesisfreefrom obstacles.
lComplywithgripperspayload specifications.
lSet thegripperforceand speed based onyourapplication.
lWhentherobot isactive,keep fingersand clothesat adistance.
lDo not usegrippersonpeopleor animals.
lDo not lookdirectlyinto theLED of theWrist Camerawhentheyareturned on:thismight dazzleyou.
2.1.1.Riskassessment andfinal application
The Hand-Egripperismeant to be mounted onindustrial orcollaborativerobots.Therobot,gripper,Wrist Camera,and anyother
equipment used inthefinal applicationmust undergo a thoroughriskassessment.Robot integratorsmust complywith all local and
national safetymeasuresand regulations.Risksmayrequire additional protection/safetymeasuresto beimplemented,depending on
theapplication.That could bethecasewhenhandling partsinherentlydangerousto theoperator.
Robotiq CNC Machine Tending Kit Instruction Manual
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Robotiq CNC Machine Tending Kit Instruction Manual
For more details,read eBooksavailable from www.robotiq.com,or contact ourTechnical Support department.
2.2.Intended Use
Info
Complywithlocal and national lawsand regulationsat all times,including withdirectiveson automation safety,and general
machinesafetyguidelines.
Warning
Use yourdeviceswithintherange of theirtechnical specifications.Using a device beyond itstechnical specificationsis
considered improperand asunforeseenbythemanufacturer.Robotiq will not beheld liableforanydamage resulting from
improperorunforeseenuses.
2.2.1.Hand-Egrippers
Grippersaredesigned to temporarilysecureor hold objects.
2.2.2.MachineTending Copilot
TheMachine Tending Copilot offersyouall thesoftwarecapabilitiesneeded foryourmachine tending applications,suchasbeing able
to reuse yourrobot programsonsimilarproduction cellsat different locations,without reprogramming all waypoints.Thisis
accomplished throug theContact Offset node,which usesforce feedbackto get real-world datainput,and modifiesrobot programs
accordingly.
Theunit should beused exclusivelywithintherangeof itstechnicaldata.Anyotheruse of theproduct isdeemed improperand
unintended use.Robotiq will not beliableforanydamagesresulting from anyimproperorunintended use.
2.2.3.Wrist Camera
TheWrist Cameraisdesigned to locateobjectslying flat onadelimited workspace.It canidentifyand locate variousobjects,each
requiring anindependent object teaching process,asexplained intheObject Teaching sectionof theWrist CameraInstruction Manual.
TheWrist Camerafindsanobject position(x,y),and itsorientationon theZaxis,allowing to carryout operationsbased onobject
location.Use theFind Visual Offset node to locateatag,thenexecuterobot movesbased on theposition of objectsinrelationto tag
position.
Tip
Forrecommendationsonwhat workspaceto useand to avoid using,seetheGuidelineson snapshot position subsection
included in theWrist CameraInstructionManual.SectionObject Teaching also containsrecommendationsabout
backgrounds,and specifieskindsof objectsthat canorcannot belocated.
Caution
TheWrist Cameraisnot designed formetrologypurposes.
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3. Installation
Thefollowing subsectionswill guideyou throughtheinstallation and general setup of yourRobotiq CNC Machine Tending Kit.
Caution
Priorto installation
lRead and understand thesafetyinstructionsrelated to theCNC Machine Tending Kit.
lVerifythat yourpackage containsall partsnoted in thescope of delivery.
lHavethe required parts,equipment and toolslisted intherequirementsreadilyavailable.
Warning
During installation
lMeet therecommended environmental conditions.
lBefore operating agripperorturning on itspowersupply,secure it to therobot arm.Whena gripperisactivated,itsfingers
maymoveand causeinjuryor damage.
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Robotiq CNC Machine Tending Kit Instruction Manual
3.1.Scope of Delivery
3.1.1.Standardupondeliveryof CNC-ES-UR-KIT
lCombo of Two Hand-EforUR e-Series[CUR-ES-DUAL-HND]
ltwo Hand-Egrippersfitted withflat rubber(NBR)overmolded fingers
ltwo grippercouplings
lone90-degreeadapterplatefor dual grippers
ltwo Hand-Efingertipsstarting kits[HND-TIP-START-KIT]
ltwo setsof Hand-EV-groovefingertips
ltwo setsof Hand-Ealuminum fingers
ltwo setsof fingertip holders
ltwo setsof V-groove fingersfor 2-FingerAdaptiveRobot Gripper(v4.0)[AGC-TIP-205-085]
ltwo setsof FingertipsExtender[HND-TIP-EXT-KIT]
ltwo setsof 2F-85FingertipsConversionKit [AGC-TIP-CONV-KIT]
lMachine Tending Copilot kit [CP-MT-ES-UR-KIT]
loneUSBstick[AGC-USB-16G]
3.1.2.Standardupondelivery of CNC-RWC-ES-UR-KIT
lCombo of two Hand-EforUR e-Series[CUR-ES-DUAL-HND]
ltwo Hand-Egrippersfitted withflat rubber(NBR)overmolded fingers
ltwo grippercouplings
lone90-degreeadapterplateplatefordual grippers
ltwo Hand-Efingertipsstarting kits[HND-TIP-START-KIT]
ltwo setsof Hand-EV-groovefingertips
ltwo setsof Hand-Ealuminum fingers
ltwo setsof fingertip holders
ltwo setsof V-groove fingersfor 2-FingerAdaptiveRobot Gripper(v4.0)[AGC-TIP-205-085]
ltwo setsof FingertipsExtender[HND-TIP-EXT-KIT]
ltwo setsof 2F-85FingertipsConversionKit [AGC-TIP-CONV-KIT]
lMachine Tending Copilot kit [CP-MT-ES-UR-KIT]
loneUSBstick[AGC-USB-16G]
loneWrist Camera[RWC-CAM-001]
lonetool plateforthe Wrist Camera[RWC-TOOL-062]
lonecalibrationboard forWrist Camera [ACC-CALIB-BOARD]
lonecolor background for theWrist CameraVisionSystem [ACC-TEACH-BACK]
lone4-port USBhub [ACC-USB-4-HUB]
loneUSB dongleloaded withtheVision license[ACC-USB-DONGLE]
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Robotiq CNC Machine Tending Kit Instruction Manual
3.2.Required Toolsand Equipment
Thefollowing table liststoolsrequired to assemble partsof theCNC Machine Tending Kit.
Part Toolsrequired
Hand-Egripper l4mm hexkey(gripper to coupling)
l2.5mm hexkey(some fingertips)
Dual Hand-Eadapterplate l4mm hexkey(dual plate to tool flange)
Wrist Camera(optional) l4mm hexkey(Wrist Camera to tool flange)
l2mm slotted screwdriver(electrical wiring with aUniversal Robotscontroller)
ForceCopilot dongle lNone
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Robotiq CNC Machine Tending Kit Instruction Manual
3.3.Environmental and OperatingConditions
3.3.1.Hand-E
CONDITION VALUE
Minimum storage temperature -30°C[-22°F]
Maximum storage temperature 70°C[158°F]
Minimum operating temperature -10°C[14°F]
Maximum operating temperature 50°C[122°F]
Humidity(non-condensing) 20-80%RH
Maximum vibration
(storage/transit) 5G
Maximum vibration (operating) 2G
IPRating IP67
Table3-1:Environmental and operating conditionsof theHand-Egripper.
3.3.2.Wrist Camera
CONDITION VALUE
Minimum storage temperature -30°C[-22°F]
Maximum storage temperature 70°C[158°F]
Minimum operating temperature 0°C[32°F]
Maximum operating temperature 50°C[122°F]
Humidity(non-condensing) Non-condensing
Maximum vibration (operating) 2G
IPRating IP67
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