Universal Robots ActiNav User manual

ActiNavNext-Generation
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Quick Start Guide
Original instructions (en)

You can download this document in English from the location listed below:
Du kan downloade dette dokument på dansk fra den placering, der er angivet nedenfor:
Sie können dieses Dokument in deutscher Sprache von dem unten aufgeführten Speicherort
herunterladen:
Puede descargar la versión en español de este documento desde la siguiente ubicación:
Vous pouvez télécharger ce document en français depuis l'emplacement ci-dessous :
È possibile scaricare questo documento in italiano all'indirizzo indicato di seguito:
本文書の日本語版は以下の場所からダウンロードできます。
https://www.universal-robots.com/download/
Quick Start Guide 5 ActiNavNext-Generation Machine
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Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

ActiNavNext-Generation Machine
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Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

Contents
1.Introduction 1
1.1. About this document 1
1.2. Terminology 1
1.3. What's in the boxes 1
1.4. Related materials 1
1.5. Business Contact Details 2
2.Safety 3
2.1. Safety message types 3
2.2. General safety precautions 3
2.3. ActiNav-specific safety precautions 4
2.4. Tool-specific safety precautions 5
2.5. 3D sensor-specific safety precautions 6
2.6. Intended use 7
2.7. Foreseeable misuse 8
2.8. Risk assessment 8
3.Product description 9
3.1. Components 9
3.2. Requirements: Parts 9
4.Configuring the workspace 10
4.1. Positioning the robot arm 10
4.2. Positioning the 3D sensor 10
4.3. Positioning the Autonomous Motion Module 10
4.4. Personnel interacting with or passing by the system 11
5.Installation 12
5.1. Installing the robot arm 12
5.2. Installing the Autonomous Motion Module (AMM) 12
5.3. Installing the 3D sensor 13
5.4. Installing the ActiNav URCap 13
5.4.1. Updating the ActiNav URCap 14
6.Maintenance 16
6.1. 3D sensor maintenance 16
6.1.1. Optical component cleaning 16
Quick Start Guide ActiNavNext-Generation Machine
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6.2. Autonomous Motion Module (AMM) maintenance 16
6.2.1. AMM replacement 16
6.2.2. AMM disposal 16
7.Specifications 17
8.Dimensional drawings 19
8.1. Robot arm and ControlBox 19
8.2. 3D sensor 19
9.Copyright and disclaimers 21
ActiNavNext-Generation Machine
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Copyright © 2019–2021 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.
1.2. Terminology
In this document, "tool" is used to refer to the End-effector. End-effector is the technical term for
any workpiece attached to the flange of the robot.
1.3. 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.
• M4 screws (4pcs).
• USB flash drive containing the 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17.
1.4. Related materials
This section contains the extra resources related to ActiNav:
•UniversalRobotse-Series Robot User Manual
•ActiNav Operating Guide
•ActiNav Integrator Guide
Quick Start Guide 1 ActiNavNext-Generation Machine
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1.Introduction
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

1.5. Business Contact Details
UniversalRobotsA/S
Energivej 25, 5260 Odense S, Denmark
[phone]
https://www.universal-robots.com
ActiNavNext-Generation Machine
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1.Introduction
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

2.Safety
2.1. Safety message types
Safety messages in this document contain information to help you avoid injury 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 and/or operating
ActiNav.
WARNING
Failure to perform a risk assessment before installing and operating the
ActiNavapplication can result in equipment damage or personnel injury.
• Perform a risk assessment before installing and operating the
ActiNavapplication.
• Read the UniversalRobotse-Series Robot User Manual and Service Manual.
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.
Quick Start Guide 3 ActiNavNext-Generation Machine
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2.Safety
Copyright © 2019–2021 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 shall perform installation, start-up, and
maintenance.
• Read the UR User Manual and the UR Service Manual.
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.
2.3. ActiNav-specific safety precautions
This section contains safety precautions specific to the ActiNav set-up and applications.
The integrator is responsible for determining the need for specific ActiNav safety precautions
and providing them.
WARNING
Failure to provide adequate safeguarding, as required by the risk assessment, can
result in death or serious injury.
• The integrator shall ensure adequate safeguarding.
WARNING
Failure to turn off power to the robot when servicing, or repairing, any part of the
ActiNav set-up can result in death or serious injury.
• Turn the power off during service and/or repair.
The integrator shall be responsible for installing and programming ActiNav, to lessen unexpected
movement situations.
ActiNavNext-Generation Machine
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2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

CAUTION
Robot inactivity can be perceived as a stop, resulting in equipment damage or
personnel injury from unexpected movement.
• Check the program state to determine if the robot is completely stopped or
temporarily inactive (waiting). If the program is running but the robot is not
moving, the robot can move again unexpectedly.
• Configure warning behavior in the Motion Start Actions.
For more information on Motion Start Actions, see the ActiNav Operating Guide.
2.4. Tool-specific safety precautions
This section contains safety precautions specific to ActiNav tool usage.
The integrator shall design, or select, the tool (see requirements in EN-ISO 10218-2).
WARNING
The potential energy of the payload can lead to a throwing hazard, in the following
cases:
• Poor grasp (workpiece retention).
• The workpiece is too heavy.
• The tool is poorly designed.
• The robot moves too quickly.
• The integrator shall design, or select, the proper gripper, taking into
account: the robot movements, the part features and the inertia of the
workpiece when gripped by the robot.
In the case of vacuum grippers and electromagnets, loss of power can cause the workpiece to
fall from the tool as a result of gravity.
CAUTION
Loss of power can result in the tool dropping the workpiece.
• Turn the power off before removing the tool.
• The integrator shall ensure there are backup systems to keep the tool
holding the workpiece, if power is lost unexpectedly.
Quick Start Guide 5 ActiNavNext-Generation Machine
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2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

2.5. 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.
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.
NOTICE
Allowing the robot to rest, or to settle onto another object, during sample taking,
can cause inaccuracy in the robot position and incorrect location data being read.
• Do not allow the robot to settle onto other objects while taking samples.
NOTICE
Bumping or nudging an aligned system can cause the alignment to be lost.
• Do not bump the sensor after you align the system.
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. Used on scanner models M, L,
XL.
3R
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2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

Label Description Laser
class
Label specifying wavelength, average power, pulse energy
and pulse length of the laser. Used 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. Used on scanner models M, L,
XL.
2
2.6. Intended use
ActiNav is designed for performing the following operations:
• Locating objects in a bin.
• 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.
For full warranty details, refer to the Warranty chapter in the UniversalRobotse-Series Robot
User Manual.
NOTICE
Damage to the robot, ActiNav and other equipment, resulting from any improper
or unintended use, is not covered by warranty.
NOTICE
UniversalRobots is not liable for any damage resulting from any improper or
unintended use.
NOTICE
ActiNav is not intended to handle Electro Static Discharge (ESD) parts or items.
Quick Start Guide 7 ActiNavNext-Generation Machine
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2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

NOTICE
ActiNav is not intended to operate under intense, harsh or direct light.
• Intense light can result in reduced performance.
• See the technical specifications for the 3D Sensor.
2.7. Foreseeable misuse
Use of ActiNav 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.
2.8. Risk assessment
For information on residual risks, refer to section Risk Assessment in the UniversalRobotse-
Series robot UserManual.
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2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

3.Product description
ActiNav is an industrial bin picking solution for unstructured picking and accurate placement of
metal and plastic parts.
3.1. Components
A typical ActiNavkit consists the following components:
• AMM
• 3D sensor
• Tool for bin picking (purchased separately)
• Frame for mounting the 3D sensor (purchased separately)
• Bin (purchased separately)
• UniversalRobotse-Series robot, consisting of the robot arm and the ControlBox
(purchased separately)
3.2. Requirements: Parts
This section describes property requirements for the system to successfully pick and place
parts.
Characteristic Suitable Not suitable
Rigidness Rigid Flexible
Surface texture Matte
Diffuse
Shiny
Transparency Solid Translucent
Transparent
Minimum part size See section7.Specificationson page17
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3.Product description
Copyright © 2019–2021 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.
For more information about robot arm position, see the ActiNav Integrator Guide.
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17.
• The 3D sensor leaves the robot arm enough space for maneuvering.
• The 3D sensor does not vibrate during the system operation.
For more information about 3D sensor position, see the ActiNav Integrator Guide.
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 ControlBox can reach the AMM. If the
supplied cable length is not enough, use a longer Cat 6 Ethernet cable.
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4.Configuring the workspace
Copyright © 2019–2021 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.
Quick Start Guide 11 ActiNavNext-Generation Machine
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4.Configuring the workspace
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

5.Installation
This section describes the installation of the components of the ActiNav kit.
Before you install, consider the guidelines in section4.Configuring the workspaceon page10.
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 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 ControlBox. SeeFigure9.1
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9.1:Back of the Autonomous Motion Module
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5.Installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.