ROBOTIQ SD-100 User manual

Robotiq ScrewdrivingSolution
for Universal Robots
Instruction Manual
ROBOTIQ SCREWDRIVING SOLUTION
robotiq.com | leanrobotics.org
Original Notice
© 2021Robotiq Inc.

Robotiq Screwdriving Solution - Instruction Manual
Table of Contents
Revisions 4
1. General Presentation 6
1.1. Screwdriving SolutionNomenclature 7
1.2. ScrewFeeding 10
1.3. ScrewPicking and Fastening 11
2. Safety 12
2.1. Disclaimer 12
2.2. Warnings, RiskAssessment and Final Application 12
2.3. Intended Use 14
3. Installation 16
3.1. Scope of Delivery 17
3.2. Required Toolsand Equipment 18
3.3. Environmental and Operating Conditions 20
3.4. Mechanical Installation 22
3.5. Electrical Setup 24
3.6. URCap Package 28
4. Operation 37
4.1. Calibrating the FT 300-SForce Torque Sensor(CB-SeriesOnly) 37
4.2. Force Copilot License Dongle (e-Series) 37
4.3. ScrewFeederSignals 37
4.4. Introductionto the ScrewdriverToolbar 39
4.5. ScrewdriverVacuum Sleeve Selection 41
4.6. Vacuum Coupler Adjustment 43
4.7. ScrewFeederAdjustment 44
4.8. ScrewFeeding Test 48
5. Software 49
5.1. Control Over Universal RobotsPackage (URCap) 49
6. ScrewdriverCalibration 64
6.1. Material Required 64
6.2. CalibrationProcedure 64
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Robotiq Screwdriving Solution - Instruction Manual
7. Specifications 70
7.1. Technical Dimensions 70
7.2. Mechanical Specifications 72
7.3. Electrical Specifications 76
8. Maintenance 77
8.1. Robotiq Screwdriver 77
8.2. Robotiq ScrewFeeder 80
9. Spare Parts, Kitsand Accessories 83
9.1. Robotiq Screwdriver 83
9.2. Robotiq ScrewFeeder 86
10. Troubleshooting 87
10.1. Screwdriver Behavior 87
10.2. ScrewFeederBehavior 87
10.3. ErrorManagement 88
11. Warranty 92
12. Harmonized Standardsand Declarations 94
13. Contact 95
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Robotiq Screwdriving Solution - Instruction Manual
Revisions
Robotiq maymodify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin
specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this
manual online at support.robotiq.com.
Revision2021/09/29
lUpdated Specificationssection
lUpdated Environmental and Operating Conditionssection
Revision2021/08/30
lInitial release
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Robotiq Screwdriving Solution - Instruction Manual
Copyright
© 2021Robotiq Inc. All rightsreserved.
Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof other countries, and by
international treaties, and therefore maynot be reproduced in whole or in part, whether for sale or not, without prior written
consent from Robotiq.
Under copyright law, copying includestranslation into another language or format.
Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed
by Robotiq for itsuse. There may be some differencesbetween the manual and the product if the product hasbeen modified after
the edition date.
The information contained in thisdocument issubject to change without notice.
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1.General Presentation
The terms“Screwdriving Solution,” “Robotiq Screwdriving Solution,” “Screwdriver,” “Robotiq Screwdriver,” “SD-100,” “Screw
Feeder,” “Robotiq Screw Feeder” and “SF-300” used in the following manual all refer to the Robotiq Screwdriving Solution and
pertaining components. The Robotiq Screwdriving Solution, composed of the Robotiq Screwdriver and Robotiq ScrewFeeder, isa
robotic peripheral designed for industrial applications. Itsdesign makesit aunique tool for fastening componentstogether in an
autonomousmanner. The ScrewFeeder deliversscrewsindividually at a picking area.The Screwdriver then collectsthem using
vacuum technology and proceedsto the actual screwdriving task.
Info
The following manual usesthe metric system. Unlessotherwise specified, all dimensionsare in millimeters.
Info
The following section presentsthe keyfeaturesof the Robotiq Screwdriving Solution; each feature isdetailed in the
appropriate section of the manual. Safety guidelinesmust be read and understood before any operation isattempted
with the Screwdriver and/or Screw Feeder.
Robotiq Screwdriving Solution - Instruction Manual
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Robotiq Screwdriving Solution - Instruction Manual
1.1.ScrewdrivingSolutionNomenclature
The Robotiq Screwdriving Solution comprisestwo main components: the SD-100 Robotiq Screwdriver,and SF-300 Robotiq Screw
Feeder.
Fig. 1-1: Screwdriver and Screw Feeder
Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional
parts.
1.1.1.Screw Feeder Nomenclature
The Robotiq Screw Feeder isan electrical device used to take in screws, bring them individually to a picking areawith a rail, and
send asignal to the robot for the Robotiq Screwdriver to pickthem up for screwdriving tasksand applications.
Fig. 1-2: Screw Feeder Nomenclature (Front)
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Robotiq Screwdriving Solution - Instruction Manual
Fig. 1-3: Screw Feeder Nomenclature (Back)
Fig. 1-4: Screw Feeder Nomenclature (Internal Components)
Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional
parts.
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Robotiq Screwdriving Solution - Instruction Manual
1.1.2.Screwdriver Nomenclature
The Robotiq Screwdriver isan end-of-arm robotic tool used to pick up screwsfrom the Screw Feeder’spicking areausing vacuum
technology, and to carry out screwdriving tasks.
Fig. 1-5: Screwdriver Nomenclature
Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional
parts.
Tip
Even though the Screwdriving Solution isdelivered with varioustypesof screwdriving bitsand vacuum sleevesto meet
the needsof numerousapplications, it ispossible to order specific typesof bitsand sleevesaccording to your needs.
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Robotiq Screwdriving Solution - Instruction Manual
1.2.Screw Feeding
Fig. 1-6: Screw Feeding Cycle
1. Screwsare dropped in the screw chamber manually or via an automated device.
2. Screwsin the chamber move toward the reclaiming wheel.
3. The wheel bladesof the reclaiming wheel pickup screwsand bring them up to the rail.
4. The rail directsthe screwsto the front of the Screw Feeder; the rail brush oscillatesand pushesmisplaced screwsback in the
screw chamber.
5. At the end of the rail, screwsare individually directed to the screwsingulator
6. The screw singulator bringsa screw before the screw detection sensor, which sendsa Ready signal to the robot controller.
Warning
Make sure not to fill the screw chamber of the Screw Feeder above the maxline.
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Robotiq Screwdriving Solution - Instruction Manual
Fig. 1-7: Max Line of the Screw Chamber.
1.3.Screw Picking and Fastening
In a typical screwdriving application, the Robotiq Screwdriver collects, viavacuum action, a screwdispensed by the Robotiq Screw
Feeder. The robot arm then movesto the workpiece within reach and executesascrewdriving action based on the parametersset
by the user in the software interface.
Fig. 1-8: Typical Screwdriving Cell with the Robotiq Screwdriver and Screw Feeder.
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2.Safety
Info
The term “operator” refersto anyone responsible for any of the following operationson the Robotiq Screwdriving
Solution:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
Warning
The operator must have read and understood all of the instructionsin the following manual before handling the Robotiq
Screwdriver and Screw Feeder.
2.1.Disclaimer
The intent of thissection isto provide general guidelinesfor the safe use and operation of the Robotiq Screwdriving Solution.
Alwaysfollow local regulations.
Thisdocumentation explainsthe variouscomponentsof the Robotiq Screwdriving Solution and general operationsregarding the
whole lifecycle of the product from installation to operation and decommissioning.
Robotiq acceptsno liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of thisproduct.
The operator shall observe safe and lawful practicesincluding but not limited to those set forth in thisdocument.
The drawingsand photosin thisdocumentation are representative examples; nonetheless, discrepanciesmaybe observed
between those and the delivered product.
2.2.Warnings, RiskAssessment and Final Application
Caution
Any use of the Screwdriving Solution in non-compliance of these warningsisinappropriate and may cause injuryor
damage.
Caution
It isthe robot integrator'sdutyto ensure that all local safety measuresand regulationsare met.
Robotiq Screwdriving Solution - Instruction Manual
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Robotiq Screwdriving Solution - Instruction Manual
Warning
lAir supplymust be dry and filtered according to ISO 8573-1class3.4.3.
lAir supplypressure should optimally be set between 5.5bar and 7 bar (80 psi and 100 psi)with an optimal pressure set
at 7 bar (100 psi).
lThe tubing should be properlysecured before pressurizing the Screwdriver.
lThe tubing should not be pressurized before removing the air supplyfrom the Screwdriver.
lNever operate the Screwdriver with leaking or worn tubing.
lThe Screwdriver needsto be properlysecured before operating the robot.
lDo not install or operate aRobotiq Screwdriver or ScrewFeeder that isdamaged or lacking parts.
lNever supply the Screwdriver with an alternative current source.
lMake sure all cord setsare alwayssecured at both ends, the Screwdriver’sand the robot’s.
lAlwaysmeet the recommended keying for electrical connections.
lMake sure no one isin the robot’sor Screwdriver’svicinity before initializing the robot'sroutine.
lKeep body partsand garmentsawayfrom the Screwdriver while the device ispowered on.
lDo not use the Screwdriver on people or animals.
The Robotiq Screwdriver hasto be equipped with either one of the 79dB or 85dB mufflers.
Given the noise levelsgenerated by the mufflers, please enforce the appropriate workplace, local, state or federal regulationsin
termsof hearing PPE.
Info
The 85 dBmuffler isinstalled by default on the Screwdriver.
Tip
For environmentsrequiring the limitation of noise levels, consider installing the 79dB muffler onto the Robotiq
Screwdriver.
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Robotiq Screwdriving Solution - Instruction Manual
The Robotiq Screwdriver ismeant to be used on Universal Robotscollaborative robots. The robot, Screwdriver, Screw Feeder, and
any other equipment used in the final application must be evaluated via athorough risk assessment.
The following non-exhaustive list presentsrisksthat must be assessed during the integration process:
lRisk of pinching between the Screwdriver and the processed objectsor the surrounding environment.
lRisk of pinching between the moving and stationary partsof the screw singulator of the Screw Feeder.
lRisk of damage to material or bodily injury caused by contact with ascrewdriving bit, or with a screwheld in place bythe screw-
driving bit and vacuum sleeve.
Depending on the application, there may be hazardsthat require additional protection and/or safety measures. For instance, the
screw handled by the Screwdriver could be inherently dangerousto the operator.
Warning
Lossof vacuum can occur due to power failure or air supplystoppage.
2.3.Intended Use
The Screwdriver isdesigned for reclaiming a screw from the screw detection position on the Screw Feeder, holding that screw in
order to move it from the detection position to afastening or screwing location, and fastening or screwing said screw.
2.3.1.Typical Applications
The Robotiq Screwdriving Solution wasdeveloped and designed to meet the requirementsof particular applications, namely in
the packaging and assembly of electronic components, and in the assembly of certain typesof manufactured goodsthat fall within
the general industry sector.
Such applicationsinclude:
lSecuring the lid of plastic and/or sheet metal containersfor mechanical components
lAssembling plastic and/or metal enclosuresfor mechanical components
lJoining electronic componentstogether
lSecuring the lid of plastic and/or sheet metal containersfor electronic components
lAssembling plastic and/or metal enclosuresfor electronic components
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Robotiq Screwdriving Solution - Instruction Manual
2.3.2.Supported Fasteners
In order to meet the safety requirementsof operating the Screwdriving Solution, Robotiq deemed appropriate to indicate the
length, typesand diametersthat correspond to the specificationsof the Solution.
Caution
Please refer to the Screwdriver Vacuum Sleeve Selectionsection to view the possible combinationsbetween screw type,
screw diameter, screw head, screw drive, screwdriving bit and vacuum sleeve.
FastenerLengthSupported
lMaximum length of 25mm (1 in)
lMinimum length of 6 mm (1/4 in), or 10mm (3/8in)for socket head screws
FastenerTypesSupported
The Screwdriving Solution supportstwo main typesof screws:
lMachine screws
lUniform diameter with flat tip
lMainly used for assembly and installation
lSelf-tapping screws
lRequire apilot/pre-drilled hole
lIn their smaller versions, they are mainly used for plastic and sheet metal enclosuresand lidsfor electronic components
FastenerDiametersSupported
For the safe and normal use of the Robotiq Screwdriving Solution, Robotiq limitsthe supported diametersto:
lImperial
l#3gauge (0.0984 in / 2.5 mm)
l#4gauge (0.1181 in / 3 mm)
l#5gauge (0.125in / 3.2mm)
l#6gauge (0.1378 in / 3.5 mm)
l#8gauge (0.164in / 4.16mm)
lMetric
lM2.5 to M4
Info
For fastener diametersover M4 or #8, please validate your use case bycontacting Robotiq.
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3.Installation
The following subsectionswill guide you through the installation and general setup of your Robotiq Screwdriving Solution.
Warning
Before installing the product:
lRead and understand the safety instructionsrelated to the Robotiq Screwdriving Solution.
lVerify your package based on the scope of deliveryand on your order.
lHave the required parts, equipment and toolslisted in the requirementsreadily available.
Warning
When installing the product:
lMeet the recommended environmental conditions.
lDo not operate the componentsof the Robotiq Screwdriving Solution or turn on the power supply before theyare
firmly anchored or mounted, and the danger zone isclear.
Warning
Failure to properly secure and install the equipment can result in material damage and seriousbodily injuries. In addition,
note that in situationswhere the installation isnot compliant, the warranty isvoid.
Robotiq Screwdriving Solution - Instruction Manual
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Robotiq Screwdriving Solution - Instruction Manual
3.1.Scope of Delivery
3.1.1.Screwdriver Standard Kit
Installationon CB-SeriesUniversal Robots
Installation on CB-Seriesrobotsrequiresthe FT300-SForce Torque Sensor and itscorresponding hardware and tools.
Please refer to the Quickstart Guide of the FT 300-SForce Torque Sensor provided in the kit.
Otherwise, for further information, you can also refer to the user manual of the FT 300-SForce Torque available at
support.robotiq.com.
lRobotiq SD-100 Screwdriver Basic Kit
lRobotiq SD-100 Screwdriver
lVacuum sleeve kit
l8-meter pneumatic hose
lRobotiq device coupling
lRS-485 to USB signal converter
l10-meter High-flex device cable
l79dB muffler
lHardware and tools
Info
The O-ring found in the hardware isfor replacement purposesonly. You do not need to install it upon first use of the
Robotiq Screwdriver.
lOne (1)screwdriving bit kit among:
lPhillipsstarting kit (PH1, PH2)
lTorx® starting kit (T8, T10, T15, T20)
lMetric hex socket starting kit (2 mm, 2.5mm, 3 mm)
lImperial hex socket starting kit (5/64 in, 7/64in, 3/32 in)
lFT 300-SStandard Kit (CB-Seriesonly)
lRobotiq Force Copilot license dongle (e-Seriesonly)
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Robotiq Screwdriving Solution - Instruction Manual
3.1.2.Screw Feeder Standard Kit
lRobotiq SF-300 Screw Feeder
lScrew Feeder mounting brackets
lScrew Feeder power supply cable
lScrew Feeder cable for I/O signalsand ground
lProtective earth cable
lUSB A-Male to USB B-Male cable
lInternational power adapter kit
lHardware and tool
Caution
The following are not included in the standard delivery:
lHardware required for options.
lAdditional accessoriesor fixturesfor the Robotiq Screwdriver, unlessspecified.
3.2.Required Toolsand Equipment
3.2.1.Robotiq Screwdriver
Installationon CB-SeriesUniversal Robots
Installation on CB-Seriesrobotsrequiresthe FT300-SForce Torque Sensor and itscorresponding hardware and tools.
Please refer to the Quickstart Guide of the FT 300-SForce Torque Sensor provided in the kit.
Otherwise, for further information, you can also refer to the user manual of the FT 300-SForce Torque available at
support.robotiq.com.
l4 mm hex keyto mount the Screwdriver onto itscoupling.
l1/2inch wrenchesto secure the screwdriving bit by tightening the bit holder knob and bit holder chuck.
l2.5mm slotted screwdriver to attach the wiresof the High-flex device cable to the RS-485 to USB signal converter, and then to
the robot controller (not included).
l8-mm (5/16-in)fitting to connect the tubing to the compressed air source (not included).
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Robotiq Screwdriving Solution - Instruction Manual
3.2.2.Robotiq Screw Feeder
l4 screwsto mount the Screw Feeder bracketson the work surface (not included).
lMetric or imperial keycorresponding to the fastenersused to mount the Screw Feeder on your work surface (not included).
l2.5mm slotted screwdriver to attach the wiresof the I/O signal and ground cable to the robot controller (not included).
l10mm wrench to fasten the earthing nut on the robot cabinet (not included).
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Robotiq Screwdriving Solution - Instruction Manual
3.3.Environmental and Operating Conditions
3.3.1.Robotiq Screwdriver
CONDITION VALUE
Storage / transit temperature range -20°C to 60°C
Operating ambient temperature range 0°C to 50°C
Humidity 20-80%RH, non-condensing
IPrating IP4X
Other
Dust accumulation mayaffect performance and shorten the time between
maintenance actions.
Free from soot or fluids.
Free from corrosive liquidsor gases.
Free from explosive liquidsor gases.
Refer to IPrating.
Table 3 - 1: Environmental and operating conditionsof the Robotiq Screwdriver
Info
The input filtersprevent dust particleslarger than 80µm from getting inside the valve. Dry dust will prevent the
accumulation on filtersor inside the valve. The muffler must not be blocked.
AirSupply
Compressed air must be supplied to the Screwdriver according to the technical specifications. For maintenance and other
purposes, it isrecommended to install a lockout valve before connecting to the product. The air supply tubing must be connected
and disconnected to, or from, the inlet port, onlywhen the line isdepressurized. When the line ispressurized, the safety clip must
be at all timesinstalled on the inlet port. To protect against whipping hazards, the air supplytubing must be securely attached to
the robot arm. An air fuse should also be installed.
Depressurizing the Supply Line
In order to safely depressurize the supply line, the air supplymust first be shut off. Then, if no lockout valve ispresent to
depressurize the line, the Screwdriver can be activated until the pressure isfullyreleased.
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