Standard RO1 User manual

RO1 Collaborative Robot
User Manual

RO1 User Manual
Standard Bots
Revised January 5, 2024
© 2023 Standard Bots Company. All rights reserved.

Table of Contents
1 Introduction 3
1.1 Welcome! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Contacting Standard Bots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Intended Use & Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Warnings & Risks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4.3 Operator Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4.4 Cybersecurity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Hardware Overview 6
2.1 Arm.................................................. 6
2.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.2 Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.3 Reach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.4 LED Colors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Control Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.1 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Specs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Hazardous Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.2 Hazardous Energy in Standard Bots System . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.3 Performing a Lockout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.5 Anti-Gravity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.6 Movement Without Drive Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 Assembly & Setup 18
3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2 Lifting the RO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Setting Up the Caster Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4 Connecting Control Box, Mounting and Unmounting Arm . . . . . . . . . . . . . . . . . . . 19
3.4.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.2 Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.3 Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.4 Mounting Base Diagram: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.5 Setting up Tablet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6 Unmounting & Transporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.2 Before transportation: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.3 Unmounting the Arm From Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.7 Connecting End Eectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7.1 Mechanical Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7.2 Fully Integrated Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7.3 Other Supported Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
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3.8 Control Box Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.8.1 Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.8.2 Analog Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4 Safety 27
4.1 Overview of Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1.1 Performance Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Safety Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.1 Speed Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.2 Speed Modier % Slider . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.2.3 Customizing Speed Limits For A Step . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.3 Safety I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.4 Collisions & Protective Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.4.1 Adjusting Collision Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.5 Setting the Robot’s Payload Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5 Software Overview 37
5.1 Connecting to the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.1.1 Top Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.2 Jogging the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.2.1 Jogging Tooltip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.2.2 Jogging Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.3 Entering Exact Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.3 Managing Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.4 Robot Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.5 Singularities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.6 Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.6.1 Routine Creation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.6.2 Running Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.7 Advanced Routine Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.7.1 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.7.2 Javascript . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.7.3 Grid Position Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.7.4 Freeform Position Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.7.5 Haas Ethernet Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
6 Maintenance 88
6.1 User-Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.2 Replacement Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.2.1 Controller Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.3 Limited Product Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6.4 Return Merchandise Authorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7 Appendix A - Error List 94
2

Chapter 1
Introduction
1.1 Welcome!
Congratulations on your new RO1 collaborative robot.
At Standard Bots, we believe robots can elevate people’s lives — but only if people can use them. We
created the RO1 to be an aordable robot that anyone can use, yet is still capable of tackling the tough-
est, most complex challenges.
This manual is meant to include everything needed to get you up and running. But if you ever need help,
we’re here to assist!
1.2 Contacting Standard Bots
•Email: [email protected]
•Phone: 1-888-9-ROBOTS
•Address: 80 Pratt Oval, Glen Cove, NY, 11542
1.3 Intended Use & Limitations
The Standard Bots RO1 robot and control box are intended to be used in applications where products
need to be picked and placed or applications where a repetitive process can be completed with compat-
ible tooling. The RO1 robot and controller are intended to be used within the environmental constraints
outlined in this manual. The RO1 robot and controller are intended to be implemented together, the
robot is not intended to be used with any other controller and the controller is not intended to be used
with any other robot.
The RO1 robot provides various safety settings and measures that, when implemented correctly and
evaluated with a risk assessment, allow the robot to work in an unguarded collaborative environment
in close proximity to humans.
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The RO1 robot is not designed to work in applications outside the bounds of this manual and any imple-
mentation violating the indented use shall be deemed misuse. These applications include but are not
limited to:
• Medical applications
• Applications in an explosive environment
• Applications where ingress protection above IP54 is required
• Applications with improper safety integration or where a risk assessment has not been created
and evaluated
• Applications requiring a high degree of food safety
Standard Bots expressly denies any liability or expressed or implied warranty claims arising from inten-
tional or unintentional misuse.
1.4 Warnings & Risks
1.4.1 Introduction
This manual is not a comprehensive guide to designing and installing a robot cell. This manual does
not cover the selection and integration of 3rd party components that may be required to complete a
safe installation. The solution must be designed according to the standards provided by the governing
body in the country where the solution will be installed. Standard Bots is not responsible for ensuring
the installation of the robot meets the standards for any given installation. The integrator assumes all
responsibility for ensuring the robot installation meets all applicable standards and safety guidelines.
1.4.2 Installation
• Make sure to install the robot and all electrical equipment according to requirements and speci-
cations in this manual (see Chapter 2).
• The RO1 control box should only be connected to secure networks.
•Risk Assessment: The RO1 is provided as a partially completed machinery. As such, the robot
should only be used as part of a cell after a comprehensive risk assessment has taken place.
–Aside from the robot itself, such a risk assessment may consider the robot’s payload, pinch-
ing hazards, any toxic or hazardous substances in the cell, and risks involved with sharp end
eectors.
–Risk assessments must cover the entire scope of the integration, including components pro-
vided by other suppliers.
–The risk assessment will help determine any speed or force limits to set up on the robot and
what safety accessories (like light curtains or area scanners) can be used. These settings are
covered in Chapter 4.
–Anti-gravity (hand-guided) mode should only be used if risk assessment approves its use.
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–Refer to ISO 10218-2 and ISO/TS 15066 for comprehensive guidelines.
• Only trained, instructed, and otherwise qualied personnel may conduct cleaning, maintenance
and repair of the robot.
1.4.3 Operator Safety
• Always ensure that the robot is well-maintained and in good mechanical condition before operat-
ing it. Always inspect it before use.
• Don’t wear jewelry or loose clothing when working with the RO1. Tie back any long hair.
• Never open the control box cabinet door during operation. Never feed wires through the door;
feed them through the rubber slot on the bottom of the box.
• Don’t expose the robot to strong magnetic elds. This may damage the robot or cause malfunc-
tions.
• Depending on other noise in the environment where the robot is used, hearing protection may be
required.
• Never attempt to make any repairs, adjustments, or inspections while the robot is running.
• Operators should stay alert and focused when operating the robot. Avoid distractions and keep
attention on the task at hand.
1.4.4 Cybersecurity
The Standard Bots RO1 is able to connect to both wired and wireless internet in order to facilitate remote
access, troubleshooting and software updates. It is imperative to follow best cybersecurity practices,
as you would with any industrial device capable of being accessed online.
1. Secure communication: Make sure the communication channels used by your robot are encrypted
and secure, so that unauthorized individuals cannot access the robot’s data or control its actions.
2. Strong passwords: Set strong passwords for your robot’s user accounts and ensure that they are
changed regularly. Use a password manager to help you create and manage secure passwords.
3. Regular updates: Keep your robot’s software and rmware up-to-date, as updates often contain
security patches that address vulnerabilities.
4. Physical security: Ensure that physical access to the robot and tablet is restricted, and that the
robot is stored in a secure location when not in use.
5. Network security: Keep your robot on a separate network or VLAN, and restrict access to that
network to only authorized users.
6. Regular testing: Conduct regular security testing to identify any vulnerabilities and ensure that
your robot is secure.
By following these best practices, you can help ensure the security of your robot and protect it from
potential cybersecurity threats.
5

Chapter 2
Hardware Overview
2.1 Arm
2.1.1 Overview
The RO1’s arm contains 6 joints connected by a CAN bus. Each joint has two encoders, two dierent
methods to sense torque, and fail-safe brakes that provide emergency braking torque when power is
removed from the arm.
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2.1.2 Payload
The RO1 robot can support a maximum of 18kg (39lbs) of payload with a center of mass at 10 in (254mm)
straight o the face of the tool flange as shown above. Total payload must include EOAT and any other
equipment attached to the robot.
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2.1.3 Reach
The RO1 robot can reach 1300 mm (51 in) in a radius from the center of the base (A). There is a radius
from the center base of 190 mm (7.5 in) (B) where the robot cannot reach due to it’s structure. Tools
added to the robot end of arm will impact the reach of the robot.
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