QB Robotics SoftHand Industry, User Manual

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

Page 2: ...www qbrobotics com This page is intentionally left blank...

Page 3: ...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 be responsible for any loss problem...

Page 4: ...ation 6 3 Description 6 4 Assembly 7 4 1 SoftHand Industry mounting 7 4 2 Cable connections 10 4 2 1 Set of cables 10 4 2 2 Driver ports 13 4 2 3 Connection sequence 14 4 2 4 Digital I Os cable EC_CBL...

Page 5: ...tenance 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 that can lead...

Page 6: ...t cannot be guaranteed in case of inappropriate use One single inappropriate use can result in a permanent damage to the safety of the product 2 2 Safety instructions WARNING Check that all the conten...

Page 7: ...safety The following EC directives on product safety must be observed If the product is being used outside the UE international national and regional directives must be also observed Machinery Directi...

Page 8: ...th high temperature or humidity Use in wet places Use in potentially explosive atmospheres Use in medical and life critical applications Use close to a human s head face and eye area Use as a climbing...

Page 9: ...of hurting the operators spoiling the products to be handled and damaging the robot itself The qb SoftHand is adaptable and can grasp different objects without any change in the control action showing...

Page 10: ...0 N 1 power line communication bridge with main cable of 3m EC_CBL_26_M8FA8_CRIMP_100 N 1 USB pen drive o Manual o Datasheet N 1 cylindrical pin EN ISO 8734 A d6x10 h6 N 4 metrical screws EN ISO 10642...

Page 11: ...ns 2 Keep 2 as shown in figure then tight the two knobs 1 3 Insert 3 into the 6 mm hole on the wrist 4 Center 2 on the wrist diameter 63mm 5 Fasten 2 to the UR wrist by tightening the four screws 4 Yo...

Page 12: ...ion 7 Fix the device by tightening the 2 knobs 1 Table 4 1 Installation guidelines of the SoftHand Industry on robot arm Referring to the balloons in the pictures 1 n 2 knobs M4 2 SoftHand Industry fl...

Page 13: ...to the external driver please use the provided set of cables 4 2 1 Set of cables The provided cables are Ethernet cable EC_CBL_UTP_6_RJ45_BLK_050 Figure 4 1 Ethernet cable Power cable EC_CBL_22_02_L50...

Page 14: ...erminal block to connect the STO Figure 4 4 Locking system for external pin You can connect the Safe Torque Off in two ways Conn A Connection to Robot control box In this way the STO is managed by the...

Page 15: ...4 5 Pinning and contacts of the M8 8 pin female connector Referring to Figure 4 5 the connections are the following Pin n Wire color Purpose 1 White SSI 5 VDC 2 Brown SSI GND 3 Green SSI clock 4 Yello...

Page 16: ...Port n Type Function Pins 1 2 54 mm Pitch Molex STO 3 2 2 54 mm Pitch Molex Feedback port C and I O 24 3 2 54 mm Pitch Molex Feedback port B 8 4 2 54 mm Pitch Molex Feedback port A 12 5 Phoenix 3 81...

Page 17: ...the two screws Make sure to connect the red cable to the M2 pin and the blue cable to the M3 pin WARNING Pay attention to connect cables in the correct way You need the flathead screwdriver 2 Assembl...

Page 18: ...wo screws Make sure to connect the brown cable to the VP pin and the white cable to the PR pin WARNING Pay attention to connect cables in the correct way You need the flathead screwdriver 5 Connect th...

Page 19: ...tightening its threaded ring on the body of the receptacle max tightening torque 0 2 Nm WARNING Be careful to insert the connector in the right direction Do not rotate the M8 connector when inserted...

Page 20: ...nputs are listed below IN_GND digital inputs ground IN1 fully opening at maximum speed IN2 fully closing at maximum speed and force IN3 fully closing at 25 of speed and maximum force IN4 fully closing...

Page 21: ...when the motor is stationary OUT2 is 1 24VDC when the number of cycles exceeds the maintenance threshold OUT3 is 1 24VDC when there is an error in the program or in the driver parameters OUT4 is 1 24V...

Page 22: ...n screen the qb SoftHand Industry information and close and reopen it just one time Before executing the example code please be sure to have properly connected and powered the device by following the...

Page 23: ...ble for the user Moreover the documentation of the whole library can be found both in the User Guide and in the include qbsofthand_industry_api qbsofthand_industry_api h header file The C shared libra...

Page 24: ...10 qbSoftHandIndustryAPI const std string device_ip Initialize the qb SoftHand Industry API handler by opening the proper UDP socket and by testing its communication The constructor tries to connect t...

Page 25: ...t float current Send the given percent position closure command reference to the qb SoftHand Industry together with the speed reference command and the maximum force that should be applied during the...

Page 26: ...g that the device should be connected first to use this command net_ip the device network IP address e g 192 168 1 110 net_mask the device network mask e g 255 255 255 0 net_gateway the device network...

Page 27: ...ws the overall dimensions of the qb SoftHand Industry Electrical and Mechanical characteristics of the hand are shown in Figure 7 1 and Table 7 1 Figure 7 1 qb SoftHand Industry dimensions which are t...

Page 28: ...OM XM YM ZM of a generic articulated robot Ri is the i th revolute joint of the robot O1 X1 Y1 Z1 is the base coordinate system of the robot The system T OT XT YT ZT is the Tool Coordinate System of t...

Page 29: ...OT XT YT ZT and wrist pre set in 0 position All coordinate systems here described follow the orthogonal right hand rule MECHANCAL UNIT NOMINAL MIN MAX weight kg 0 89 wrist mounting range deg 0 90 wri...

Page 30: ...NAL MIN MAX operating voltage V 24 12 95 power consumption W 12 6 200 CONTROL communication protocols EtherCAT UDP FEATURE plug and play1 soft human like fingers adjustable wrist mounting position spl...

Page 31: ...28 15 luglio 2019 7 1 Fingers workspace Figures below show the hand workspace in particular the fingers range Figure 7 4 Fingers workspace dimensions in millimeters...

Page 32: ...s the extreme positions of the wrist in the first position 0 the axis ZT is normal to the palm and in the last position 90 the axis YT is normal to the palm Figure 7 5 Extreme position of the wrist pr...

Page 33: ...ated scale to read the angular position Follow the sequence below to change the wrist pre set 1 rotate the two knobs by a single counterclockwise turn 2 rotate the hand at the desired angle step of 7...

Page 34: ...don and the elastic bands Buyer upon written consent by the Seller shall return at his own expenses the defective Product to Seller Seller shall repair or replace the defective Product and the repaire...

Page 35: ...es rendered under the terms of the warranty Insofar as no warranty default exists qbrobotics s r l reserves the right to charge the customer for replacement or repair qbrobotics s r l shall have no li...

Page 36: ...heck the wiring is correct Make a power cycle If the hand is connected to the power source of the control box make a power cycle of the robot If the hand is connected to an external power source make...

Page 37: ...ts Part 2 Robot systems and integration The product is prepared for compliance with robot system requirements defined in these standards ISO TS 15066 2016 RIA TR R15 606 Robots and robotic devices Saf...

Page 38: ...d Robots should also be constructed according to this standard to ensure proper fitting EN 60529 A2 2013 Degrees of protection provided by enclosures IP Code This standard defines enclosure ratings re...