QB Robotics qb SoftHand RESEARCH User Manual Download

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6 marzo 2018

iii.

Fasten ISO 9409-1-50-4-M6 flange adapter to the hand wrist interface using
n.5 M4x12 screws (4).

Figure 4.1 SoftHand research assembly scheme on the robot. 1) robot tool flange; 2) ISO 9409-1-50-4-M6

flange adapter; 3) M6x10 screw (n. 4 pcs.); 4) M4x12 screw (n. 5 pcs.); 5) hand wrist interface; 6) SoftHand

research.

4.2

cable connections

Figure 4.2 Scheme of cable connections between the qb SoftHand research and the UR. The blue arrows

are mechanical connections while the green ones are electric. 1) UR control box; 2) qb dummy; 3) control

box plate screws; 4) power cable; 5) USB cable; 6) main cable.

Summary of Contents for qb SoftHand RESEARCH

Page 1: ...Please read carefully these instructions before use Do not discard keep for future reference USER GUIDE FOR UNIVERSAL ROBOT...

Page 2: ...to changes without notice the latest version is available on our webpage www qbrobotics com qbrobotics s r l does not assume any responsibility for errors or omissions In no case qbrobotics s r l will...

Page 3: ...ns 4 2 3 EC Directives on product safety 4 3 qb SoftHand technical data 5 4 Getting started 7 4 1 SoftHand mounting 7 4 2 cable connections 8 4 3 Software upload to UR controller 9 4 4 URCap plugin in...

Page 4: ...ecessary maintenance personnel at all times Pass the document to any subsequent owner or user of the product 1 2 Symbols and conventions WARNING identifies information about practice or circumstances...

Page 5: ...use any damaged power cable plug or loose outlet It may cause fire or damage to people Make sure the end effector is properly and securely bolted in place Do not use if damaged or defective Do not dis...

Page 6: ...chinery Directive 2006 42 EC Because of their small size no serious threats to life or physical condition can normally be expected from electric miniature drivers Therefore the Machinery Directive doe...

Page 7: ...able 3 1 and Table 3 2 Figure 3 1 qb SoftHand research dimensions Electrical data Nominal Voltage V 24VDC Power cons Nominal W 30 Motionless W 1 4 Current limit at nominal conditions Nominal Anom A 0...

Page 8: ...yload nom peak power grasp Kg 1 7 1 7 pinch grasp Kg 0 83 0 83 hanging Kg 20 20 Max grasp force power grasp N 62 75 pinch grasp N 11 11 Cycle time Full closing s 1 1 Full opening s 1 1 Duration N of c...

Page 9: ...N 5 M4x12 screws 4 1 SoftHand research mounting Use only the screws provided within the package Longer screws could damage the robot or the hand External tools needed are 2 5mm Allen wrench 5mm Allen...

Page 10: ...O 9409 1 50 4 M6 flange adapter 3 M6x10 screw n 4 pcs 4 M4x12 screw n 5 pcs 5 hand wrist interface 6 SoftHand research 4 2 cable connections Figure 4 2 Scheme of cable connections between the qb SoftH...

Page 11: ...he 0V and the red cable to the 24V see Figure 4 3 Figure 4 3 detail of the connection of the power cable to the 24V power supply inside the UR control box iv Connect the qb dummy 2 to the USB port of...

Page 12: ...has the following meaning 0 the hand is completely opened the hand is partially closed 100 the hand is completely closed During the Program execution each time this URCap node is reached the given clo...

Page 13: ...setup Their behavior is as follows subtracts 1 from the given value subtracts 5 from the given value adds 1 to the given value adds 5 to the given value In any case the closure value cannot be greate...

Page 14: ...manually opened a connection test is performed on failure the Program Node status indicator becomes yellow and you cannot start your program execution until the connection is brought back 6 optional...

Page 15: ...erformed exclusively based on our General Conditions of Sale and Delivery which can be viewed on the qbrobotics home page www qbrobotics com The warranty will not be valid in case of tampering with th...

Page 16: ...r cycle o If the hand is connected to the power source of the UR control box make a power cycle of the robot o If the hand is connected to an external power source make a power cycle of the qb dummy F...