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
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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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External Tool Finishing Kit -Instruction Manual
lTherobot contact surface(inblue)istheonlycontact point allowed betweentheSensorand therobot forfastening thesensorto the
robot.Notethat the insidering must not touch therobot.
Info
Detailsonthebolt patternand indexing pinforthetool side and the robot sidecanbefound intheSpecificationssectionof
theForceTorqueSensor Instruction Manual availableon support.robotiq.com.
lThe screwpositioning for thecoupling and therobot mountingsare shown in orange. See the Spare Partssection of theFT Sensor
Instruction Manual foralist of availableCouplings.
lM12connector (pigtail ormounted)allowsfor bothpowerand data transferfor theSensor.
lStatusLED providesvisual informationonthestatusof the Sensor,seeStatusLED sectionof the FT 300 Force Torque Sensor Instruc-
tion Manual fordetails.
Fig.1-7:FT 300 Force Torque Sensor force and torquediagrams.
The figure above represents the various force and torquesthat theFT 300 Force Torque Sensor can measure.Reference frame is
centered ontheSensorasshownabove and visual inscriptionsarealso represented on it.
lThe Zaxispassesthroughthecenterof thedepressionwithpositivedirection inthetool direction.
lThe Xaxistracesa symmetriclinecentered on theconnector;the positive direction pointstheopposite wayawayfrom the connector.
lTheYaxisusestheright hand thumb ruleaccording to X-Z.
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Fig.1-8:FT 300 Force Torque Sensor options.
Thefigureabove representsvariousoptionsavailable.Theycanbe found intheSpareParts,Kitsand Accessoriessectionof theFT
SensorInstruction Manual.
lCouplingsare meant to install theFT 300 Force Torque Sensor on variousrobot models,seeavailable models.
lSensorCable isused forpowerand communicationswiththeFT 300ForceTorqueSensor and isavailableindifferent lengths.
lMechanicalProtectorismeant to protect thecable connector from collisionsthat canoccur when operating the robot (especiallyuse-
ful wheninteach mode).
lToolPlateisnot shown,but might berequired whencertainend-of-arm toolsaremounted ontheFT 300ForceTorqueSensor
Info
Please referto theInstallationsection fordetailsontheinstallation of variousoptions.
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2.Safety
Info
The term "operator" refers to anyone responsible for any of the following operations on the Robotiq Hand-E Gripper:
installation,control,maintenance,inspection,calibration,programming ordecommissioning.
Caution
The operatormust haveread and understood all of theinstructionsintheHand-EInstruction manual beforehandling the
Robotiq Gripper.
The drawings and photos in this documentation are representative examples; nonetheless, discrepancies may be observed between
thoseand thedelivered product.
2.1.Warning
Info
Anyuseof theHand-EGripperinnoncompliance of thesewarningsisinappropriateand maycauseinjuryordamage.
Warning
lTheGripperneedsto beproperlysecured before operating therobot.
lDo not install oroperateaGripperthat isdamaged orlacking parts.
lNeversupplytheGripperwithan alternativecurrent source.
lMakesure allcord setsarealwayssecured at bothends,at theGripperand at therobot.
lAlwaysmeet therecommended keying for electrical connections.
lMakesure no oneisin the robot and /orGripperpathbeforeinitializing therobot'sroutine.
lAlwaysmeet the Gripper'spayload specifications.
lSet theGripper'spinchforceand speed accordingly,based onyourapplication.
lKeep fingersand clothesawayfrom the Gripperwhile the poweris on.
lDo not usetheGripperonpeopleoranimals.
lForwelding applications,makesurethereareno Gripperpartsontheground pathof thewelding powersource.
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2.1.1.Riskassessment andfinal application
The Robotiq Hand-E Gripper is meant to be used on industrial and collaborative robots. The robot, the Gripper and any other
equipment used in thefinal application must be evaluated viaathorough riskassessment.It istherobot integrator'sdutyto ensurethat
all local safety measures and regulations are met. Depending on the application, there may be risks that require additional
protection/safetymeasures;for example,thework-piece the Gripperismanipulating might beinherentlydangerousto theoperator.
Formore informationordetailson theprocedures,pleasereferto theeBooksavailableonour websitewww.robotiq.com orcontact our
technical support.
2.1.2.IntendedUse
For the Hand-EGripper
TheGripperunit isdesigned forgripping and temporarilysecuring or holding objects.
Info
Alwayscomplywithlocaland/ornational laws,regulationsand directivesonautomation safetyand general machinesafety.
Theunit should be used exclusivelywithintherangeof itstechnical data.Anyotheruse of theproduct isdeemed improperand
unintended use.Robotiq will not beliableforanydamagesresulting from anyimproperorunintended use.
For the Finishing Copilot software
TheFinishing Copilot wascreated to teachcomplextrajectorieswithonlyfewinformation and edit thistrajectoryrapidly.It wasalso
designed to control therobot so it appliesa constant force onto asurfaceduring the sanding orpolishing process.
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3.Installation
The following subsectionswill guide youthroughtheinstallation and general setup of yourRobotiq External Tool Finishing Kit.
Warning
Beforeinstalling:
lRead and understand thesafetyinstructionsrelated to theHand-EGripper.
lVerifyyourpackage according to thescope of deliveryand yourorder.
lHavetherequired parts,equipment and toolslisted intherequirementsreadilyavailable.
Warning
Wheninstalling:
lMeet therecommended environmental conditions.
lDo not operatetheKit,oreventurnonthepowersupply,before it isfirmlyanchored and thedangerzoneiscleared.
lThefingersof theHand-EGrippermaymove and cause injuryor damage
3.1.Scope of delivery of the External Tool FinishingKit for UR(ETF-ES-UR-
KIT)
Included intheExternal Tool Finishing Kit for URe-Series:
l1xHand-EGripperKit
l1xApplicationCopilot LicenseDongle
l1xTeachPendant Stylus
l1xURWrist AxisSticker
Included intheExternal Tool Finishing Kit for URCB-Series:
l1xHand-EGripper
l1 xFT 300 Sensor Kit for UR(with theLicense Dongleincluded)
Info
Formore detailsabout theHand-EGripperKit,please referto theSpare Parts,Kitsand Accessoriessectionof theHand-E
CB-Seriesore-SeriesinstructionManual availableonrobotiq.com/support.
External Tool Finishing Kit -Instruction Manual
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3.2.Required Toolsand Equipment
The following toolsare required to install theHand-EGripper:
l4 mm hex keyto mount theGripperonto itscoupling .
l3 mm hex keyto install thewrist connection protector (for the e-SeriesHand-EGripper only)
l2.5 mm hexkey
3.3.Environmental and OperatingConditions
Hand-EGripper
Caution
Useof theHand-EGripperisnot recommended inpresenceof chemicalsin the environment.
Conditions Value
Minimum storage/ transit temperature -30°C[-22°F]
Maximum storage/ transit 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
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External Tool Finishing Kit -Instruction Manual
FTSensor for CB-Seriesrobots
The FT Sensor isdesigned for industrial applications.Alwaysrespect thefollowing specified storage,transport and operating
environmental conditions:
Conditions Values
Minimum storage / transit temperature -30°C
Maximum storage / transit temperature 70°C
Minimum operating temperature15°C
Maximum operating temperature140°C
Humidity(non-condensing) 20-80%RH
Maximum vibration (storage / transit) 5G
Maximum vibration (operating) 2G
IPrating IP40
Other lFreefrom dust,soot or water
lFreefrom corrosive liquidsor gases
lFreefrom explosive liquids orgases
lFreefrom powerful electromagnetic interference
1Referto theSignalSpecificationssection for detailson temperature compensation range inthe FT Sensor Instruction Manual
3.4.Mechanical Installation
3.4.1.Installing the fingers/ fingertips/holdersontheHand-EGripper
The figuresbelowlist the material and toolsneeded to mount fingersorfingertips/holdersonto theracksof theHand-EGripper.
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Fig.3-1:Mounting fingersonracks
Fig.3-2:Mounting fingertipson holdersand thenonracks
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External Tool Finishing Kit -Instruction Manual
3.4.2.InstallingtheHand-EGripperontoe-Seriesrobots
The use of a coupling to attach the Hand-E Gripper to the robot is necessary. Please consult the Spare Parts, Kits and Accessories
section intheHand-EInstruction Manual to consult thelist of couplingsavailable.
Here are the steps to mount the Hand-Eon the robot (exploded viewin the figure below). Note that all screws should be locked using
medium strength threadlocker.
1Mount thecoupling ontherobot tool flange.Align using thedowel pin.
2Securebyinserting theM6 screwsand tooth lockwashers.
3Mount theHand-EGripperonto thecoupling using M5screwsand align it withthedowel pin.
4Securethegripperto the coupling.
5Covertheconnector byinstalling thewrist connection protector using the M4screws.
Fig.3-3:Installing theHand-EGripperontherobot tool flange
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3.4.3.InstallingtheFTSensorandthe Hand-Eonto CB-Seriesrobots
Step 1: Installation of the Robotiq Force Torque Sensor
The installation of the FT Sensor isnecessary on CB-Seriesrobots for force and torquedata acquisition.
Standard deliveryfor an FT Sensor kit:
FTS-300-KIT-001
Robotiq Force Torque Sensor FT 300unit
1 m pigtail cable (CBL-COM-2068-01)
10 m Robotiq Device Cable (CBL-COM-2065-10-HF)
USBSignal Converter(ACC-ADT-USB-RS485)
Info
The FT 300 coupling ismandatory, you cancustomize yours from a blankprovided by Robotiq.
Hereare the stepsto followfor theinstallation of theSensor(seefigurebelow).Note that all screwsmust belocked in placeusing
medium strength threadlocker,such asLoctite248 orasimilarproduct.
1. Aligntheindexing dowel pin between thecoupling and therobot (usuallypressfitted to the robot).
2. Screwthecoupling to therobot withtherobot mounting screws(withlockwashersif provided)and threadlocker.
3. AligntheSensor indexing dowel pins(prefixed to theSensor)to thecoupling.
4. ScrewtheSensorto thecoupling using thecoupling mounting screws(withlockwashersif provided)and threadlocker.
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