ROBOTIQ ETF-CB-UR-KIT User manual

Robotiq External Tool FinishingKit
onUniversal Robots
InstructionManual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

1. Revisions 6
1. General Presentation 7
1.1. Robotiq Hand-EGripper 7
1.1.1. Gripper nomenclature 7
1.1.2. Object picking 9
1.1.3. Setup and Control 9
1.2. Robotiq Finishing Copilot software one-Seriesrobots 10
1.3. Robotiq Force Torque SensoronCB-Seriesrobots 10
2. Safety 13
2.1. Warning 13
2.1.1. Risk assessment and final application 14
2.1.2. Intended Use 14
FortheHand-EGripper 14
FortheFinishing Copilot software 14
3. Installation 15
3.1. Scope of deliveryof the ExternalToolFinishing Kit forUR(ETF-ES-UR-KIT) 15
3.2. RequiredToolsand Equipment 16
3.3. Environmentaland Operating Conditions 16
Hand-EGripper 16
FT Sensor for CB-Series robots 17
3.4. MechanicalInstallation 17
3.4.1. Installing the fingers/ fingertips/holderson the Hand-EGripper 17
3.4.2. Installing the Hand-EGripper onto e-Seriesrobots 19
3.4.3. Installing the FT Sensor and the Hand-Eonto CB-Seriesrobots 20
Step 1:Installationof theRobotiq ForceTorqueSensor 20
PowerSupplySpecifications 21
Wiring 22
Wiring withUSBto RS485Converter 22
Step 2:Installation of theHand-EGripper onto theFT Sensor 23
3.4.4. Installation of the External Tool Finishing Kit URCap Package for e-Series 24
3.4.5. Uninstalling URCap Package 27
4. Software 29
External Tool Finishing Kit -Instruction Manual
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4.1. Hand-EGrippercontrolwithUniversalRobots 29
4.1.1. Gripper Dashboard 30
Overviewone-Seriesrobots 30
OverviewonCB-Seriesrobots 31
Features 32
4.1.2. Gripper Calibration menu and wizard 33
4.1.3. Gripper Toolbar 37
Overview 37
One-Seriesrobots 37
OnCB-Seriesrobots 37
One-Seriesand CB-Seriesrobots 37
Features 38
Gripperoperationwindow 40
4.1.4. Gripper Node 41
Command window 42
Features 43
Edit actionscreen 45
Features 45
Grip Checknode 47
One-Series 47
OnCB-Series 47
About 48
Errormessagesoverview 50
50
Gripper Program Template 50
4.2. Copilot controlwithUniversalRobots 51
4.2.1. Find Contact Offset node 52
Add Translation 54
Add orientation 56
4.2.2. ApplyContact Offset 57
4.2.3. Finishing Tool Control node 58
4.2.4. Path Recording node 60
Overview 62
Features* 63
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External Tool Finishing Kit -Instruction Manual
4.2.5. Multipoint path node 64
Howto set up a Multipoint Path 66
Step 1 66
Step 2 68
4.2.6. Path Generator 69
4.2.7. ActiveDrive Toolbar 73
Overview 73
Toolbarcollapsed 73
Toolbarexpanded 74
Features 74
ErrorMessagesOverview 75
4.2.8. Insertion nodes 76
Child nodes 77
Features(Spiral) 77
Features(Rotational) 79
Features(Linear) 80
4.2.9. Find Surface Node 81
4.2.10. Force Control node 83
Overview 83
Features 83
Referenceframe 83
Parameters 84
Current vstargeted position 86
88
MotionFrame 88
Test 89
4.2.11. Force Event 90
Features(ClickDetection) 92
Features(Wait for Force) 92
4.2.12. Collision Detection 93
Forceand torquescript functions 95
5. Specifications 96
5.1. Technicaldimensionsof the Hand-EGripper 96
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5.1.1. Fingersand fingertips 97
Rack 97
Flat Rubber (NBR) Overmolded Fingers 98
Fingertip holders 98
Flat aluminum finger 98
Grooved fingertips 99
5.2. Mechanicalspecificationsof the ExternalToolFinishing Kit 100
5.2.1. Specificationsof the FTSensor on CB-Seriesrobots 100
5.2.2. Specificationsof the Hand-EGripper 100
Payload and force 101
Maximum payload/External force vs.Custom finger design 102
Frictiongrasp and form-fit grasp 104
Maximum payload by grasp type 104
5.2.3. Center of massand tool center point of the FT Sensor and the Hand-EGripper 105
5.2.4. Moment and force limits 106
5.3. Electricalspecificationsof the FT Sensor 107
5.4. Electricalspecificationsof the Hand-E 107
6. Maintenance 108
7. Spare Parts, Kitsand Accessories 109
8. Troubleshooting 110
9. Warranty 111
10. Harmonized Standards, Declarationsand Certificates 112
11. License Agreement 113
12. Contact 117
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1.Revisions
2019/11/19
Updateof thesoftwaresection:
lForcecontrol node:addition of thecurrent vstargeted position and themotion frame.
2019/10/10
Initial Release
Copyright
© 2016-2019Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and therefore maynot be reproduced in whole or inpart, whetherfor sale ornot,without prior writtenconsent from Robotiq.
Undercopyright law,copying includestranslationinto anotherlanguage orformat.
Informationprovided byRobotiq inthisdocument isbelieved to beaccurate and reliable.However,no responsibilityisassumed by
Robotiq for itsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe
edition date.
Theinformationcontained inthisdocument issubject to changewithout notice.
External Tool Finishing Kit -Instruction Manual
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1.General Presentation
The Robotiq External Tool Finishing Kit, is an application Kit that allows you to automate finishing tasks with the combination of a
Robotiq Hand-EGripperand aFinishing Copilot software.The Robotiq Finishing Copilot enablesyou to program an external TCPand
let the robot knows that the finishing tool is external to the robot. The finishing tasks isthen processed with the robot bringing the part
to theexternal TCP,which allowstherobot to control theforce on atrajectorywiththeexternal tool.
Finishing Copilot’scontact offset node usesa point on theexternal tool asa reference to measure wear.With 0.2 mm precision,contact
offset validates the tool’s exact position anytime you wish. If there’s a slight change, the robot program will automatically adapt all
related parameters.
1.1.Robotiq Hand-EGripper
TheRobotiq Hand-EGripperisa roboticperipheral designed for industrial applications.It isauniqueroboticdesigned to quicklypick,
placeand handlepartsinabroad rangeof sizesand shapes.
Info
Thismanual usesthemetricsystem.Unlessotherwise specified,all dimensionsarein millimeters.
1.1.1.Grippernomenclature
The Hand-EGripperisa parallel gripper.Itstwo fingersareactuated bya singlemotor.
Fig.1-1:Robotiq Hand-EGripper
External Tool Finishing Kit -Instruction Manual
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The Hand-Ebasicgripper unit includesflat aluminum fingersovermolded with NBR,asshown inFigure 1.1 above.
Theusercaninstall fingersdirectlyontheracks,orfastenfingertipsto fingertip holders,whichareinturninstalled ontheracks.Referto
theInstallation section formore informationonhowto integrate custom fingersand fingertipsto Hand-E.
Fig.1-2:Mounting a fingeron arack
When ordered as a kit, a fingertip starting kit is included. Please refer to the Spare Parts, Kits and Accessories section of the Hand-E
Instruction Manuel availableat robotiq.com/support.Thesefingertipsshould be mounted onto fingertip holders.
Fig.1-3:Mounting a fingertip onafingertip holder
Tip
Youcancustomizefingersand fingertips.Mount custom fingerson racksand fingertipson fingertip holders.
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External Tool Finishing Kit -Instruction Manual
1.1.2.Object picking
The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping: fingers can pick hollow
partsfrom inside by applying pressure with theoutersurface of the fingers.
See the figure below for a representation and refer to the Picking Features section for details on available position commands for your
gripper.
Fig.1-4:Hand-EGripperinternal and external gripping
1.1.3.Setup andControl
The Hand-E Gripper has an embedded object detection feature based on indirect sensing methods. When picking an object with the
"go to" command, the gripper status indicates whether or not an object has been picked, using only an object detection bit (0 or 1).
Whenanobject isdetected,thegripper no longerincreasestheforce exerted on theobject.If theobject isbeing dropped,thegripper
automaticallyexertsmoreforce until theobject isdetected oruntil the positiontarget from the"go to command" isreached.
For more details on the installation, the couplings, the Object Detection, the wiring and the control, please refer to the Hand-E
InstructionManual.
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1.2.Robotiq FinishingCopilot software one-Seriesrobots
The Robotiq Finishing Copilot is a software package designed for using the force and torque values read by a force torque sensor
embedded in the e-Series robot wrist. The software interface provides force and torque feedback that can be used for robotic
applications suh as hand guiding, force control processes, assembly tasks, product testing, and much more on e-Series robot. The
hardware counterpart of Finishing Copilot is the license dongle, a USB storage device hosting the product license. The Finishing
Copilot software is used for the implementation of a force torque sensor's operational commands in a user interface and that unlocks
force control featuresand functionalities.
Fig.1-5:Finishing Copilot LicenseDongle
1.3.Robotiq Force Torque Sensor onCB-Seriesrobots
The Force TorqueSensor isa roboticperipheral designed for force and torquedata acquisition onCB-Seriesrobot.
Fig.1-6:General presentation of the Robotiq Force TorqueSensorswith mainfeatures.
lThe end-of-armtool contact surface(ingreen)istheonlypoint of contact allowed between theSensorand thetool to ensure correct
forceand torque feedback.
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