OnRobot DOOSAN Gecko Gripper, User Manual

Page 1: ...USER MANUAL FOR DOOSAN ROBOTS ORIGINAL INSTRUCTION EN v1 02...

Page 2: ...0 4 Installation 11 4 1 Overview 11 4 2 Mounting 11 4 2 1 Quick Changer options 12 4 2 2 Tools 14 4 3 Wiring 18 4 3 1 Tool data 18 4 3 2 Digital I O wires 18 4 3 3 Ethernet cable 21 4 3 4 Power supply...

Page 3: ...Technical sheets 63 7 2 Mechanical Drawings 89 7 2 1 Adapter plate s 89 7 2 2 Mountings 89 7 2 3 Tools 92 7 3 Center of Gravity 99 8 Maintenance 100 9 Warranties 103 9 1 Patents 103 9 2 Product Warran...

Page 4: ...Gripper v2 RG2 v2 RG2 FT v2 RG6 v2 VG10 v2 Sensors Version HEX E QC v3 HEX H QC v3 Where applicable the combination of the products is also covered in the manual NOTE Generally the products without t...

Page 5: ...This is an instruction relevant for the RG2 product only RG2 FT This is an instruction relevant for the RG2 FT product only VG10 This is an instruction relevant for the VG10 product All text without...

Page 6: ...of the integrator Collecting all documentation in a technical file including the risk assessment and this manual 2 1 Intended Use OnRobot tools are intended to be used on collaborative robots and ligh...

Page 7: ...ards and regulations of the country where the robot is installed Any safety information provided in this manual must not be construed as a warranty by OnRobot A S that the robot application will not c...

Page 8: ...e movement OnRobot A S have identified the potential hazards listed below as significant hazards that must be considered by the integrator Objects flying from OnRobot tools due to loss of grip Objects...

Page 9: ...the product Motion is then prevented as long as one or both of the two buttons are activated If this happens while running the robot program user can detect this condition with the help of the provide...

Page 10: ...Compute Box sends a HIGH digital output to the robot The Compute Box has 8 digital inputs and 8 digital outputs that can be freely configured for any logic In this way the user can configure eight gri...

Page 11: ...will be required Mount the components Wire the cables Setup the software In the following sections these installation steps will be described 4 2 Mounting Required steps Mount the Quick Changer option...

Page 12: ...uick Changer ISO 9409 1 50 4 M6 3 Dowel pin 6x10 ISO2338 h8 4 Adapter Robot tool flange ISO 9409 1 50 4 M6 Use 10 Nm tightening torque Dual Quick Changer Dual Quick Changer 1 M6x20mm ISO14580 8 8 2 Du...

Page 13: ...HEX E H QC 1 HEX E H QC sensor 2 M4x6mm ISO14581 A4 70 3 M6x8mm NCN20146 A4 70 4 HEX E H QC adapter 5 Adapter Robot tool flange ISO 9409 1 50 4 M6 Use 1 5 Nm tightening torque for M4x6mm Use 10 Nm ti...

Page 14: ...will keep the lower part locked once mounted Step 2 Flip the tool until it is fully mated and you hear a clicking sound To unmount the tool press the aluminum button on the Quick Changer and repeat t...

Page 15: ...ng sound To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order RG2 Step 1 Move the tool close to the Quick Changer as illustrated The hook mechan...

Page 16: ...To unmount the tool press the aluminum button on the Quick Changer and repeat the steps in the reverse order RG6 Step 1 Move the tool close to the Quick Changer as illustrated The hook mechanism rod...

Page 17: ...strated The hook mechanism rod and hook tongue will keep the lower part locked once mounted Step 2 Flip the tool until it is fully mated and you hear a clicking sound To unmount the tool press the alu...

Page 18: ...blue line to the Compute Box CB and use the supplied Velcro tape black to fix it NOTE Leave some extra cable length around the joints so that the cable is not pulled when the robot moves Also make su...

Page 19: ...e pluggable connectors The supplied connector type is 2 x Phoenix Contact MC 1 5 8 ST 3 5 Terminal Block Wire the digital I O wires from the Compute Box to the robot DO1 8 Digital outputs of the Compu...

Page 20: ...to the robot s Digital input 8 DI1 to the robot s Digital output 1 DI2 to the robot s Digital output 2 DI8 to the robot s Digital output 8 List of the important pins of the IO terminal blocks Pin Des...

Page 21: ...nnection is only needed for programming CAUTION Use only original OnRobot ethernet cables or replace it with one that is shielded and no more than 3 meter long WARNING Check and make sure that the Com...

Page 22: ...Installation 22 Finally power up the power supply that will power the Compute Box and the connected Tool s...

Page 23: ...be programmed first with the help of a computer connected to the Compute box Then it can run standalone without any Ethernet connection Steps to program it Setup the Compute Box s Ethernet interface...

Page 24: ...nfiguration for the robot computer NOTE To change between modes first change the DIP switches and then the Compute Box power needs to be cycled for the changes to take effect Auto mode Use the factory...

Page 25: ...dress 192 168 1 2 Subnet mask 255 255 255 0 Other settings like Gateway DNS Server etc could be kept empty or set to 0 0 0 0 Advanced mode Set the DIP switch 3 in OFF and DIP switch 4 in ON position a...

Page 26: ...on Ethernet Interface setup Then do the following steps Connect the Compute Box to your computer with the supplied UTP cable Power the Compute Box with the supplied power supply Wait one minute for th...

Page 27: ...Operation 27 For the first login a new password needs to be entered password must be at least 8 characters long Once logged in you can access top menus Select WebLogic menu...

Page 28: ...ebLogic programs that are stored on the Compute Box To create a new program go to the Program Editor tab To edit a stored program click on the pencil icon and it will be loaded in the Program Editor A...

Page 29: ...mm Another row in a program can be like this If DI1 0 Then RG2 Width 20 force 40N If the robot sets the Digital Input 1 DI1 of the Compute Box to low then close the RG2 gripper to 20 mm With the above...

Page 30: ...check the checkbox next to the row number The rows must have at least one condition and at least one command to be executed Conditions Conditions are the input fields marked by blue There are two type...

Page 31: ...and it will give true result Commands Commands are the input fields marked with gray There are two types of commands Device specific value type like set RG2 width 77 mm and with force 20N Digital Out...

Page 32: ...applied to the pads N below 50N it reads 0N Ultrasonic Actual distance measured from the bottom of the gripper to the object mm Pad position Actual position of the pads either In or Out Pads worn If...

Page 33: ...or external grip is detected Safety pressed True if any of the gripper s safety switch is currently being pressed Safety triggered True if any of the gripper s safety switch is triggered Commands Desc...

Page 34: ...mponents Both F3D T3D The combined F3D and T3D acting on an object that the gripper gripped on Commands Description Width Set the gripper to a new width mm with a gripping force N Bias Set to TRUE to...

Page 35: ...ld be used These inputs and outputs can be programmed through the OnRobot WebLogic that requires the Ethernet interface to be used only for programming time 6 1 2 Web Client To access the Web Client o...

Page 36: ...password must be at least 8 characters long Once signed in the following top menus appear Devices Monitor and control the connected devices e g grippers Configuration Change the Compute Box s setting...

Page 37: ...tings e g change password add new user Select the language of the Web Client In the following these menus will be described Devices menu To control monitor a device click on the Select button Gecko 38...

Page 38: ...bottom of the gripper The state of the gripper could be Pad position Pads are either In or Out out means ready for gripping Part detected the set preload force limit is reached and object distance is...

Page 39: ...stored to the default value 90N on power reset If a part was detected and the object distance becomes 18mm part is lost BEFORE the pads are set to be IN normal release the Pads worn warning is display...

Page 40: ...orce and torque values Fx Fy Fz and Tx Ty Tz are shown in N Nm The Zero toggle switch can be used to zero the force and torque reading NOTE Zero value set on this page is not stored permanently and ar...

Page 41: ...is reached but the set width is not The status of the two safety switch shows Pushed the safety switch 1 2 is still being pushed Triggered the safety switch 1 2 has been activated and gripper is stop...

Page 42: ...ent fingertips attached to the gripper Offset is measured from the inner mating face of the bar metal fingertips To save the value to the gripper permanently click Save The gripper can be controlled b...

Page 43: ...for the left and right fingertip sensor The Zero toggle switch can be used to zero the force and torque reading NOTE Zero value set on this page is not stored permanently and are restored to the defau...

Page 44: ...ys restored to the default value on power reset Higher power limit value means the required vacuum level is reached faster higher airflow but if it is set too fast overshoot may occur Low power limit...

Page 45: ...an IP address from a DHCP server If the network that the device is connected to has no DHCP server then the fixed 192 168 1 1 IP is used for the device after 60 seconds of timeout If it is set to Sta...

Page 46: ...pute Box needs to be the Scanner the following addition information is required for the communication IP address to connect to the robot IP address Origin to target instance id refer to the robot s Et...

Page 47: ...d browse for the file The available Paths are listed at the end of the page Any paths can be exported and downloaded as a ofp file or permanently deleted to free up the list if a path is not needed an...

Page 48: ...pdate button to start the software update process CAUTION During the update process takes about 5 10 minutes DO NOT unplug any device or close the browser window Otherwise the Compute Box could be dam...

Page 49: ...er Go to Account settings Sign out Account settings This page has two tabs My profile to see and update the currently logged in users profile e g change password Users to manage users e g add remove e...

Page 50: ...the Users tab click on the Add new user button to add more users There are three user levels Administrator Operator User Fill in the user information and click Save Later on to change any user inform...

Page 51: ...us org docs Modbus_Application_Protocol_V1_1b3 pdf NOTE In this section the address and register values are written in the following format DD HH where the DD is in decimal and the HH is in hexadecima...

Page 52: ...duct will provide no response if the settings are not correct 3 0x03 Read Holding Registers Use this function code to read out one or multiple consecutive registers Please refer to MODBUS Application...

Page 53: ...worn Read only 260 0x0104 Busy Read only 261 0x0105 Actual preload force Read only 262 0x0106 Actual ultrasonic range Read only 263 0x0107 Pad position Read only 0 0x0000 Pad Control Read Write Contro...

Page 54: ...0x0001 when pads are in motion otherwise reads low 0x0000 261 0x0105 Actual preload force Read only Reads the actual preload force in 1 100 N 262 0x0106 Actual ultrasonic range Read only Reads the act...

Page 55: ...o 0x0001 Zero 256 0x0100 Status Read only Reads low 0x0000 when there is no error 259 0x0103 Fx Read only Force value along the X axis in the sensor coordinate system in 1 10 N The value is signed INT...

Page 56: ...tween the finger to be moved to and maintained It must be provided in 1 10th millimeters The valid range is 0 to 1100 for the RG2 and 0 to 1600 for the RG6 Please note that the target width should be...

Page 57: ...motion It is composed of 7 flags described in the table below 275 0x0113 Actual width with offset Read only Indicates the current width between the gripper fingers in 1 10 millimeters The set fingerti...

Page 58: ...Read only 260 0x0104 Fy L Read only 261 0x0105 Fz L Read only 262 0x0106 Tx L Read only 263 0x0107 Ty L Read only 264 0x0108 Tz L Read only 266 0x010A Status L Read only 268 0x010C Fx L Read only 269...

Page 59: ...Please note that the gripper will ignore this flag if the busy flag is set in the status field 5 0x0005 Proximity Offset L Read Write This field sets the offset of the left proximity sensor that is s...

Page 60: ...here is no error with the left proximity sensor 275 0x0113 Proximity Value L Read only Reads the current distance from the left proximity sensor in 1 10 mm The value is signed INT 277 0x0115 Proximity...

Page 61: ...maintain vacuum on this channel 2 0x02 Idle Commands the channel to neither release nor grip Workpieces may stick to the channel if physically pressed towards its vacuum cups but the VG10 will use sli...

Page 62: ...l A above Compute Box The table below provides an overview of the available MODBUS registers for the Compute Box All writable registers can be accessed using function codes 6 16 or 23 and all readable...

Page 63: ...fication 63 7 Hardware Specification 7 1 Technical sheets Gecko 64 HEX E QC 67 HEX H QC 69 Quick Changer 71 Quick Changer for I O 71 Dual Quick Changer 71 Quick Changer Tool side 71 RG2 FT 73 RG2 78 R...

Page 64: ...n 140 N Detachment time 300 msec Holds workpiece on power loss yes Pads Change out interval 150 000 to 200 000 cycles for HIGH preload 200 000 to 250 000 cycles for LOW preload cycles Manual Cleaning...

Page 65: ...en rigid and flexible substrates surface finish payload and the required preload to pick up said substrate For example if the customer knows that their part substrate is rigid with a mirror like finis...

Page 66: ...k up the material the gripper can pick up the material in some cases requires caution and testing to verify Nothing the gripper cannot pick up this type of material NOTE This table is to be utilized a...

Page 67: ...al Capacity N C 200 200 10 6 5 N Nm Single axis deformation at N C typical 1 7 0 067 0 3 0 011 2 5 2 5 5 5 mm inch Single axis overload 500 500 500 500 Signal noise typical 0 035 0 15 0 002 0 001 N Nm...

Page 68: ...The sensor cannot be operated outside of the Normal Operating Area 0 2 5 5 7 5 10 0 50 100 150 200 Txy Nm Fxyz N Txy Fxyz 0 1 625 3 25 4 875 6 5 0 50 100 150 200 Tz Nm Fxyz N Tz Fxyz Normal Operating...

Page 69: ...inal Capacity N C 200 200 20 13 N Nm Single axis deformation at N C typical 0 6 0 023 0 25 0 009 2 2 3 5 3 5 mm inch Single axis overload 500 400 300 300 Signal noise typical 0 1 0 2 0 006 0 002 N Nm...

Page 70: ...70 The sensor cannot be operated outside of the Normal Operating Area 0 3 25 6 5 9 75 13 0 50 100 150 200 Tz Nm Fxyz Tz Fxyz Normal Operating Area 0 5 10 15 20 0 50 100 150 200 Txy Nm Fxyz N Txy Fxyz...

Page 71: ...Permissible force 400 N Permissible torque 50 Nm Rated payload 20 44 kg lbs Repeatability 0 02 mm IP Classification 64 Operating life Tool change 5 000 cycles Operating life Robot operation 10 M cycle...

Page 72: ...Hardware Specification 72 Load capacity 0 5 10 15 20 25 30 35 40 45 0 00 50 100 150 200 250 300 350 400 450 500 Payload kg Distance from center mm Static Acceleration 2g Acceleration 4g...

Page 73: ...nonlinearity Temperature compensation 2 General Properties Min Typical Max Units Payload Force Fit 2 4 4 kg lb Payload Form Fit 4 8 8 Kg lb Total stroke adjustable 0 0 100 3 93 mm inch Finger position...

Page 74: ...type and color Proximity sensor typical accuracy 20 10 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 Proximity sensor reading mm Part distance mm Ideal Response White colour Alumin...

Page 75: ...Hardware Specification 75 RG2 FT Gripping Speed Graph Gripper Working Range The dimensions are in millimeters...

Page 76: ...ication 76 Fingertips The standard fingertips can be used for many different workpieces If custom fingertips are required they can be made to fit the Gripper fingers Dimensions of the Gripper s finger...

Page 77: ...irectional laser sources Direct high temperature Mechanical contacts in any case Expose to any liquid or fine conductive dust NOTE Please clean regularly the proximity sensor surface with low pressure...

Page 78: ...on resolution 0 1 0 004 mm inch Repetition accuracy 0 1 0 004 0 2 0 007 mm inch Reversing backlash 0 1 0 004 0 3 0 011 mm inch Gripping force adjustable 3 40 N Gripping force deviation 25 Gripping spe...

Page 79: ...Hardware Specification 79 RG2 Gripping Speed Graph RG2 Work Range...

Page 80: ...ulated from the end of the fingertips is dependent on the gripping width w For various width values the height h limit is given below Fingertips The standard fingertips can be used for many different...

Page 81: ...ion resolution 0 1 0 004 mm inch Repetition accuracy 0 1 0 004 0 2 0 007 mm inch Reversing backlash 0 1 0 004 0 3 0 011 mm inch Gripping force adjustable 25 120 N Gripping force deviation 25 Gripping...

Page 82: ...Hardware Specification 82 RG6 Gripping Speed Graph RG6 Work Range...

Page 83: ...ulated from the end of the fingertips is dependent on the gripping width w For various width values the height h limit is given below Fingertips The standard fingertips can be used for many different...

Page 84: ...40 s Vacuum pump Integrated electric BLDC Arms 4 adjustable by hand Dust filters Integrated 50 m field replaceable IP Classification IP54 Dimensions folded 105 x 146 x 146 4 13 x 5 75 x 5 75 mm inch D...

Page 85: ...o independent channels When the four arms are adjusted to preferred angles it is recommended to add the accompanied arrow stickers This allows for easy realignment and exchanging between different wor...

Page 86: ...epends primarily on the following parameters Suction area Vacuum Air flow These three parameters are explained in the following subsections Suction area The higher suction area the higher lifting capa...

Page 87: ...cally compensates for altitudes up to 2km where the pressure is about 80 of sea level Air flow Air flow is the amount of air that must be pumped to maintain the target vacuum A completely tight system...

Page 88: ...boxes Extra attention must be paid to leakages e g vacuum cup shape and surface roughness The air flow capability of a VG10 is shown in the graph below NOTE The easiest way to check if a cardboard bo...

Page 89: ...gs 7 2 1 Adapter plate s No adapter plates are required 7 2 2 Mountings Quick Changer Robot side 89 Dual Quick Changer 90 HEX E QC 91 Quick Changer Robot side Distance from Robot flange interface to O...

Page 90: ...Hardware Specification 90 Dual Quick Changer Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches...

Page 91: ...Hardware Specification 91 HEX E QC Distance from Robot flange interface to OnRobot tool All dimensions are in mm and inches...

Page 92: ...Hardware Specification 92 7 2 3 Tools Gecko 92 RG2 FT 93 RG2 94 RG6 95 VG10 96 Quick Changer Tool side 98 Gecko All dimensions are in mm and inches...

Page 93: ...Hardware Specification 93 RG2 FT All dimensions are in mm and inches...

Page 94: ...Hardware Specification 94 RG2 All dimensions are in mm and inches...

Page 95: ...Hardware Specification 95 RG6 All dimensions are in mm and inches...

Page 96: ...Hardware Specification 96 VG10 All dimensions are in mm and inches...

Page 97: ...Hardware Specification 97 All dimensions are in mm and inches...

Page 98: ...Hardware Specification 98 Quick Changer Tool side All dimensions are in mm and inches...

Page 99: ...ravity mm Weight HEX E H QC X 0 Y 0 Z 50 cX 0 cY 5 cZ 20 0 35 kg 0 77 lb Gecko Gripper X 0 Y 0 Z 187 cX 0 cY 0 cZ 113 2 83 kg 6 10 lb RG2 FT X 0 Y 0 Z 205 cX 0 cY 0 cZ 65 0 98 kg 2 16 lb RG2 X 0 Y 0 Z...

Page 100: ...pad surface and impair function The Gecko Gripper performance is maximized when the pads are clean and dry The pads can collect dust so it is best to use the Gecko Gripper in a clean environment and...

Page 101: ...cking plate Leverage the pad removal tool against the gripper housing to pry off the used pad Repeat for all pads Step 3 To install new replacement pads align the notch of the pad with the tab in the...

Page 102: ...s every time a grip is released However particles can eventually get stuck and build up inside the filter lowering the VG10 performance A filter service kit is available which include both new filters...

Page 103: ...aims under the warranty must be submitted within two months of the warranty default becoming evident Ownership of devices or components replaced by and returned to OnRobot A S shall vest in OnRobot A...

Page 104: ...Certifications 104 10 Certifications...

Page 105: ...Certifications 105...