Universal Robotis ActiNav User manual

ActiNavAutonomous
BinPicking
Quick Start Guide
Original instructions (en)

Contents
1.Introduction 1
1.1. About this document 1
1.2. What's in the boxes 1
1.3. Related materials 1
1.4. Business Contact Details 1
2.Safety 2
2.1. Safety message types 2
2.2. General safety precautions 2
2.3. Application-specific safety precautions 3
2.4. 3D sensor-specific safety precautions 3
2.5. Intended use 4
2.6. Foreseeable misuse 5
2.7. Risk assessment 5
3.Product description 6
3.1. Components 6
3.2. Requirements: Parts 6
4.Configuring the workspace 7
4.1. Positioning the robot arm 7
4.2. Positioning the 3D sensor 7
4.3. Positioning the Autonomous Motion Module 7
4.4. Personnel interacting with or passing by the system 8
5.Installation 9
5.1. Installing the robot arm 9
5.2. Installing the Autonomous Motion Module (AMM) 9
5.3. Installing the 3D sensor 10
5.4. Installing the ActiNavAutonomousBinPickingURCap 10
6.Maintenance 12
6.1. 3D sensor maintenance 12
6.1.1. Optical component cleaning 12
7.Specifications 13
8.Dimensional drawings 15
8.1. Robot arm and control box 15
Quick Start Guide ActiNavAutonomous BinPicking
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

8.2. 3D sensor 15
9.Copyright and disclaimers 17
ActiNavAutonomous BinPicking Quick Start Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

1.Introduction
1.1. About this document
This guide provides the essential information you need to get started with
ActiNavAutonomousBinPicking.
1.2. What's in the boxes
The product is shipped in several boxes that contain the following parts:
• AutonomousMotionModule(AMM).
• AMM power cable.
• 3D sensor.
• 3D sensor power adapter with cable.
• 3D sensor Ethernet adapter.
• Mounting bracket.
• M2.5 screws (4pcs).
• USB flash drive containing the ActiNavAutonomousBinPickingURCap software.
• Alignment marker kit.
• M6 hex screws (2pcs), and a hex key.
• CAT6 Ethernet cable, 25ft (2pcs).
• This document.
• UniversalRobotse-Series robot (purchased separately from the kit).
For more information on the parts included in the boxes, see section7.Specificationson page13.
1.3. Related materials
This section contains the extra resources related to ActiNavAutonomousBinPicking:
• UniversalRobotse-Series robot User Manual:
https://www.universal-robots.com/download/
1.4. Business Contact Details
UniversalRobotsA/S
Energivej 25, 5260 Odense S, Denmark
[phone]
https://www.universal-robots.com
Quick Start Guide 1 ActiNavAutonomous BinPicking
1.Introduction
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

2.Safety
2.1. Safety message types
Safety messages in this document contain information that helps you avoid injuries or equipment
damage. This document contains the following safety message types.
WARNING
This safety message indicates a hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION
This safety message indicates a hazardous situation that, if not avoided, could result in
minor or moderate injury.
NOTICE
This safety message indicates a situation that, if not avoided, could result in damage to
equipment or property.
2.2. General safety precautions
This section contains general safety precautions, read it before installing or operating the
ActiNavAutonomousBinPicking.
NOTICE
This product is used exclusively with the UniversalRobotse-Series robot. General
safety considerations valid for the UniversalRobotse-Series robot are also valid for
this product.
WARNING
Performing installation or maintenance of equipment connected to a power source can
lead to electric shock.
• Ensure that the equipment is disconnected from the power source before
performing installation or maintenance.
ActiNavAutonomous BinPicking 2 Quick Start Guide
2.Safety
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

CAUTION
Failure to perform installation or maintenance correctly can result in equipment
damage or personnel injury.
• Only qualified personnel must perform installation, start-up, and maintenance.
CAUTION
Failure to perform a risk assessment before installing and operating the
ActiNavAutonomousBinPicking can result in equipment damage or personnel injury.
• Perform a risk assessment before installing and operating the
ActiNavAutonomousBinPicking.
2.3. Application-specific safety precautions
This section contains safety precautions specific to bin picking applications.
CAUTION
The 3D sensor is a class 3R laser product. This class of laser has a low risk of injury.
• Avoid looking directly into the beam.
WARNING
In Autonomous operating mode, the robot arm can resume motion at any time because
of a programmed or an external command, or when a safeguard stop condition is
cleared. Sudden start during service or repair work can cause injury or equipment
damage.
• Disconnect the robot from the power supply when performing service or repair
work.
2.4. 3D sensor-specific safety precautions
This section lists labels and warnings specific to the 3D sensor. All labels are located on the back panel
of the 3D sensor, except for the Laser aperture label.
Quick Start Guide 3 ActiNavAutonomous BinPicking
2.Safety
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

Label Description Laser
class
Laser radiation hazard warning symbol.
Laser aperture label. Designates the place from which laser
radiation is emitted.
Label with manufacturer address, product name, and model, CE
and FCC marks, disposal directions and country of origin.
Laser radiation warning with laser class label. The serial number
of the device can be found above the warning labels.
3R
Label specifying wavelength, average power, pulse energy and
pulse length of the laser. User on scanner models M, L, XL.
3R
Label specifying wavelength, average power, pulse energy and
pulse length of the laser. User on scanner models M, L, XL.
3R
Laser radiation warning with laser class label. The serial number
of the device can be found above the warning labels.
2
Label specifying wavelength, average power, pulse energy and
pulse length of the laser. User on scanner models M, L, XL.
2
2.5. Intended use
ActiNavAutonomousBinPicking is designed for performing the following operations:
• Locating objects in a container.
• Picking the objects using a tool attached to a robot arm.
• Moving the objects to a destination location.
• Placing objects in a specific way at the destination location.
Use the product only within the range of its technical specifications. Any other use of the product is
considered improper and unintended.
ActiNavAutonomous BinPicking 4 Quick Start Guide
2.Safety
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

NOTICE
UniversalRobots is not liable for any damage resulting from any improper or
unintended use.
NOTICE
Damage to equipment resulting from any improper or unintended use is not covered by
warranty.
NOTICE
ActiNavAutonomousBinPicking is not intended to handle ESD sensitive parts or
items.
NOTICE
ActiNavAutonomousBinPicking is not intended to operate under intense, harsh or
direct light.
• Intense light can result in reduced performance.
2.6. Foreseeable misuse
Use of the product for a purpose other than the intended use is considered to be a misuse.
This includes, but is not limited to:
• Failure to follow the safety precautions written in the product documentation.
• Failure to perform the risk assessment.
• Failure to install visual indicators around the product workspace informing the personnel that the
robot arm moves automatically.
• Overloading the robot arm.
• Use of the product outdoors.
• Operating the product in conditions where the environment parameters exceed the values
specified in the technical specifications of the product.
• Use in potentially explosive environments.
• Use in medical and life critical applications.
2.7. Risk assessment
For information on residual risks, refer to section Risk Assessment in the UniversalRobotse-Series
robot UserManual.
Quick Start Guide 5 ActiNavAutonomous BinPicking
2.Safety
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

3.Product description
ActiNavAutonomousBinPicking is an industrial bin picking solution for unstructured picking and
accurate placement of metal and plastic parts.
3.1. Components
A typical ActiNavAutonomousBinPickingkit consists the following components:
• AMM.
• 3D sensor.
• Tool for bin picking (purchased separately from the kit).
• Frame for mounting the 3D sensor (purchased separately from the kit).
• Bin (purchased separately from the kit).
• UniversalRobotse-Series robot, consisting of the robot arm and the control box (purchased
separately from the kit).
3.2. Requirements: Parts
This section describes which properties the parts must have for the system to pick and place them
successfully.
Characteristic Suitable Not suitable
Rigidness Rigid Flexible
Surface texture Matte
Diffuse
Shiny
Transparency Solid Translucent
Transparent
Minimum part size See section 7.Specificationson page13
ActiNavAutonomous BinPicking 6 Quick Start Guide
3.Product description
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

4.Configuring the workspace
This section contains guidelines and suggestions for configuring a bin picking application.
4.1. Positioning the robot arm
When positioning the robot arm, ensure the following:
• The robot arm can reach the parts with the tool.
• The robot arm can reach the destination for placing parts.
• The robot arm and the tool have enough space for maneuvering at the pick location and at the
place target.
• The robot arm can move the tool with the part from the pick location to the place target as freely
as possible.
Since each pick is unique, the robot arm assumes different poses to place the part at the place
target. Position the robot arm and other components so that the arm has as much free space to
move as possible.
4.2. Positioning the 3D sensor
When positioning the 3D sensor, ensure the following:
• The 3D sensor has unobstructed view of the parts in the bin.
• The parts are within the scanning volume of the 3D sensor. The scanning volume is in
section7.Specificationson page13.
• The 3D sensor leaves the robot arm enough space for maneuvering.
• The 3D sensor does not vibrate during the system operation.
4.3. Positioning the Autonomous Motion Module
When positioning the AutonomousMotionModule(AMM), ensure the following:
• The environment around the AMM is suitable for an IP40 device.
• The Ethernet cables from the 3D sensor and the robot control box can reach the AMM. If the
supplied cable length is not enough, use a longer Cat 6 Ethernet cable.
Quick Start Guide 7 ActiNavAutonomous BinPicking
4.Configuring the workspace
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

4.4. Personnel interacting with or passing by the
system
• Train all personnel interacting with the system properly.
• Inform the personnel interacting with or passing by the system about how the system works and
about any residual risks identified in the application risk assessment.
• Put visual markers on floors and other surfaces indicating areas where physical contact with the
robot arm is possible or where eye contact with the laser beam is possible.
• Make the personnel aware of how to stop the system in case of emergency.
ActiNavAutonomous BinPicking 8 Quick Start Guide
4.Configuring the workspace
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

5.Installation
This section describes the installation of the components of the ActiNavAutonomousBinPickingkit.
Before the installation, consider the guidelines in section4.Configuring the workspaceon page7.
5.1. Installing the robot arm
For mechanical and electrical installation instructions of the robot arm and the control box, refer to the
UniversalRobotse-Series robot User Manual.
5.2. Installing the Autonomous Motion Module (AMM)
1. Place the AMM in a location where:
• The environment around the AMM is suitable for an IP40 device.
• The Ethernet cables from the 3D sensor and the robot control box can reach the AMM. If
the supplied cable length is not enough, use a longer Cat 6 Ethernet cable.
2. Using the supplied Ethernet cable, connect the AMM with the robot control box. SeeFigure8.1
below.
3. Connect the supplied power cable to the AMM.
The following illustration shows the back of the AMM:
1 3D sensor Ethernet port 2 UR control box Ethernet port
Figure8.1: Back of the Autonomous Motion Module
Quick Start Guide 9 ActiNavAutonomous BinPicking
5.Installation
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

5.3. Installing the 3D sensor
To install the 3D sensor:
1. Mount the 3D sensor using the mounting holes on the mounting plate, refer to
section8.Dimensional drawingson page15.
2. Using the supplied Ethernet adapter and the Ethernet cable, connect the 3D sensor and the
AMM. See Figure8.1 on the previous page, and Figure8.2:3D sensor portsbelow.
If the supplied cable length is not enough, use a longer Cat 6 Ethernet cable.
3. Connect the 3D sensor power adapter to the power port on the 3D sensor.
The following illustration shows the 3D sensor ports:
Figure8.2: 3D sensor ports
5.4. Installing the
ActiNavAutonomousBinPickingURCap
To install the ActiNavAutonomousBinPickingURCap:
1. Power on the robot and the AMM.
2. Ensure that the robot control box and the AMM are connected with the Ethernet cable.
3. On the Teach Pendant, go to Settings > System > Network. In the Network group, select Static
Address. In Network detailed settings, enter the following:
•IP address: 192.168.0.2.
•Subnet mask: 255.255.255.0.
4. Plug the supplied USB flash drive into the Teach Pendant.
5. Go to Settings > System > URCaps.
6. Select +, navigate to the ActiNavAutonomousBinPickingURCap file, select Open.
7. In the installation dialog box, select Restart. PolyScope installs the URCap and restarts.
8. On the Teach Pendant, go to Installation > URCaps > Bin Picking > System. In the Utilities
group, select Autonomous Motion Module Pairing. Tap Pair AMM.
ActiNavAutonomous BinPicking 10 Quick Start Guide
5.Installation
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

ActiNavAutonomousBinPicking is ready for operation.
Quick Start Guide 11 ActiNavAutonomous BinPicking
5.Installation
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

6.Maintenance
This section describes maintenance tasks necessary for ensuring the continued reliability and efficiency
of the product.
6.1. 3D sensor maintenance
6.1.1. Optical component cleaning
To maintain the performance of the 3D sensor, keep the glass covering the optical components of the
sensor clean. The optical components are the sensor lens and the glass covering the laser projector.
Avoid touching the glass with fingers.
The following table contains the maintenance tasks and their intervals.
Interval Task
On every shift Inspect the glass covering the optical components of the sensor. If there is
visible dust or smudges, wipe the glass with lint free wipes intended for
optical components.
Monthly Clean the glass using lint free wipes intended for optical components.
NOTICE
If there are sharp or hard particles on the glass, wiping the glass can cause scratches.
• To remove sharp or hard particles, clean the glass with a special cleaning
solution for optical components.
ActiNavAutonomous BinPicking 12 Quick Start Guide
6.Maintenance
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

7.Specifications
UniversalRobotse-Series robot
Property UR5e UR10e
Maximum reach (robot arm) 850mm 1300mm
Power supply (control box) 100–240V AC, 47–440Hz
3D sensor
Property Sensor size M Sensor size L
Minimum part size 15 × 15 × 2 mm 20 × 20 × 5 mm
Minimum thickness 2mm 5mm
Maximum bin size (W × L × D) 630 × 490 × 450 mm 1100 × 970 × 850 mm
Optimum scanning distance (focus) 650mm 1239mm
Scanning range (depth of field) 458–1118mm 870–2150mm
Scanning area (at focus distance) 590×421mm 1082×802mm
Dimensions 77×68×416mm 77×68×616mm
Weight 950g 1100g
Light source Visible red light
Wavelength 638nm
Laser class 3R (IEC/EN 60825-1, 2014)
IP rating IP40
Operating temperature 0–30°C
Operating humidity 10–85% at 40°C non-condensing
EMC CE/FCC Class A, CCC, BSMI
Safetycertificates UL/CB, CCC, BSMI
Power supply 100–240V AC
Quick Start Guide 13 ActiNavAutonomous BinPicking
7.Specifications
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

AutonomousMotionModule(AMM)
Property Value
Power supply input voltage 100–240V AC
Power supply putput power 250W
Operating temperature 0–40°C
Operating humidity 85% at 40°C non-condensing
Operating vibration 1Grms
Operating shock 10G
Dimensions (W×H×D) 232×90×232mm
EMC CE/FCC Class A, CCC, BSMI
Safetycertificates UL, CB, CCC, BSMI
ActiNavAutonomous BinPicking 14 Quick Start Guide
7.Specifications
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.