OnRobot Gecko SP1 Manuale utente
USER MANUAL
FOR UR ROBOTS
v1.4.1
Original Instructions
Contents
1. Introduction.................................................................................................................................... 4
1.1. Important Safety Notice....................................................................................................................4
1.2. Scope of the Manual........................................................................................................................ 4
1.2.1. Gecko SP1/3/5.........................................................................................................................4
1.3. Copyright............................................................................................................................................. 4
2. Safety..............................................................................................................................................5
2.1. Intended Use......................................................................................................................................5
2.2. General Safety Instructions........................................................................................................... 5
2.3. Risk Assessment.............................................................................................................................. 6
2.4. Environmental Safety.......................................................................................................................7
3. HW Installation.............................................................................................................................. 8
3.1. Overview..............................................................................................................................................8
3.2. Robot Mount...................................................................................................................................... 8
3.2.1. Optional - Angle Bracket.....................................................................................................8
3.2.2. Quick Changer Mounting...................................................................................................9
3.2.2.1. Quick Changer - Robot Side.................................................................................. 9
3.2.2.2. Gecko SP1/3/5.......................................................................................................... 9
3.2.3. Tools........................................................................................................................................ 9
3.2.3.1. Gecko SP1/3/5............................................................................................................9
4. SW Installation..............................................................................................................................11
4.1. Gecko SP1/3/5 SW Installation.......................................................................................................11
5. Operation......................................................................................................................................12
5.1. Gecko SP Operation....................................................................................................................... 12
5.1.1. How the Gecko SP Works.................................................................................................. 12
5.1.2. TCP Setup..............................................................................................................................14
5.2. URScript Commands......................................................................................................................15
5.2.1. Gecko SP1/3/5...................................................................................................................... 15
5.2.1.1. Grip and Release...................................................................................................... 15
6. Hardware Specification.............................................................................................................. 16
6.1. Technical Sheets..............................................................................................................................16
6.1.1. Gecko SP1/3/5....................................................................................................................... 16
6.2. Mechanical Drawings................................................................................................................... 20
6.2.1. Adapter Plate.......................................................................................................................20
6.2.2. Angle Bracket......................................................................................................................21
6.2.3. Mountings............................................................................................................................22
6.2.3.1. Quick Changer - Robot Side................................................................................22
6.2.3.2. Quick Changer for I/O - Robot Side..................................................................23
6.2.4. Tools......................................................................................................................................23
2
6.2.4.1. Gecko SP1/3/5......................................................................................................... 23
6.3. COG, TCP.........................................................................................................................................24
6.3.1. Gecko SP1/3/5..................................................................................................................... 24
6.3.2. Angle Bracket..................................................................................................................... 24
7. Maintenance.................................................................................................................................27
7.1. Gecko SP1/3/5.................................................................................................................................. 27
7.1.1. Replacing the Gripper Pads...............................................................................................28
7.1.2. Replacing the Spring /Greasing the Bearing............................................................... 28
8. Troubleshooting..........................................................................................................................30
8.1. Tool Functions Are Not Available...............................................................................................30
8.2. Error During Operation.................................................................................................................30
9. Warranties.................................................................................................................................... 31
9.1. Patents................................................................................................................................................ 31
9.2. Product Warranty............................................................................................................................ 31
9.3. Disclaimer......................................................................................................................................... 31
10. Certifications..............................................................................................................................32
10.1. EMC...................................................................................................................................................33
10.2. Declaration of Incorporation......................................................................................................34
10.2.1. Gecko SP1/3/5....................................................................................................................34
3
1. Introduction
1.1. Important Safety Notice
DANGER:
You must read, understand, and follow all safety information in this manual, and
the robot manual and all associated equipment before initiating robot motion.
Failure to comply with safety information could result in death or serious injury.
1.2. Scope of the Manual
The manual covers the following OnRobot products and their components:
1.2.1. Gecko SP1/3/5
Tool Version
Gecko SP1/3/5 v1
1.3. Copyright
The information contained herein is property of OnRobot A/S and shall not be reproduced in
whole or in part without prior written approval of OnRobot A/S. The information herein is
subject to change without notice and should not be construed as a commitment by OnRobot
A/S. This manual is periodically reviewed and revised.
OnRobot A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2015–2020 by OnRobot A/S.
The OnRobot A/S logo is trademark of OnRobot A/S.
INTRODUCTION
4
2. Safety
The robot integrators are responsible for ensuring that the applicable safety laws and
regulations in the country concerned are observed and that any significant hazards in the
complete robot application are eliminated. This includes, but is not limited to:
•Performing a risk assessment for the complete robot system
•Interfacing other machines and additional safety devices if defined by the risk assessment
•Setting up the appropriate safety settings in the robot software
•Ensuring that the user will not modify any safety measures
•Validating that the total robot system is designed and installed correctly
•Specifying instructions for use
•Marking the robot installation with relevant signs and contact information 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 light industrial robots with
dierent payloads depending on the end-of-arm tooling specifications. OnRobot tools are
normally use in pick-and-place, palletizing, machine tending, assembly, quality testing and
inspection and surface finishing applications.
The end-of-arm tooling should only operate under conditions noted in 6.1. Technical Sheets
section.
Any use or application deviating from intended use is deemed to be impermissible misuse.
This includes, but is not limited to:
•Use in potentially explosive atmospheres
•Use in medical and life critical applications
•Use before performing a risk assessment
•Use outside the permissible operational conditions and specifications
•Use close to a human’s head, face and eye area
•Use as a climbing aid
2.2. General Safety Instructions
Generally, all national regulations, legislations and laws in the country of installation must be
observed. Integration and use of the product must be done in compliance with precautions in
this manual. Particular attention must be paid to the following warnings:
SAFETY
5
DANGER:
You must read, understand, and follow all safety information in this manual, and
the robot manual and all associated equipment before initiating robot motion.
Failure to comply with safety information could result in death or serious injury.
The information in this manual does not cover designing, installing, and
operating a complete robot application, nor does it cover other peripheral
equipment that can influence the safety of the complete system. The complete
system must be designed and installed in accordance with the safety
requirements set forth in the standards 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 cause injury or
damage, even if robot application complies with all safety instructions.
OnRobot A/S disclaims any and all liability if any of OnRobot tools tooling are
damaged, changed or modified in any way. OnRobot A/S cannot be held
responsible for any damages caused to any of OnRobot tools tooling, the
robot, or any other equipment due to programming errors or malfunctioning of
any of OnRobot tools.
WARNING:
OnRobot tools are not allowed to be exposed to condensing conditions when
power is on or when connected to a robot. If condensing conditions appear
during transport or storage, the product must be placed between 20 and 40
Celsius degrees for 24 hours before power is applied or before connected to a
robot.
It is recommended that OnRobot tools are integrated in compliance with the following guides
and standards:
•ISO 10218-2
•ISO 12100
•ISO/TR 20218-1
•ISO/TS 15066
2.3. Risk Assessment
The robot integrator must perform a risk assessment on the complete robot application.
OnRobot tools are only components in a robot application and therefore they can be only
safely operated if the integrator has considered the safety aspects of the whole application.
OnRobot tools are designed with relatively smooth and round design with a limited amount of
sharp edges and pinch points
In collaborative applications, the trajectory of the robot can play a significant safety role. The
integrator must consider the angle of contact with a human body, e.g. orientate OnRobot tools
and workpieces so that the contact surface in the direction of movement is as large as
possible. It is recommended that the tool connectors are pointed in the direction opposite to
the movement.
SAFETY
6
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 falling down from OnRobot tools due to loss of grip
•Injuries due to collisions between humans and workpieces, OnRobot tools tooling, robot
or other obstacles
•Consequences due to loosen of bolts
•Consequences if OnRobot tools cable gets stuck to something
•Workpiece itself represents a hazard
2.4. Environmental Safety
OnRobot A/S products must be disposed of in accordance with the applicable national laws,
regulations and standards.
The product is produced with restricted use of hazardous substances to protect the
environment; as defined by the EU RoHS Directive 2011/65/EU. These substances include
mercury, cadmium, lead, chromium VI, polybrominated biphenyls and polybrominated
diphenyl ethers.
Observe national registration requirements for importers according to EU WEEE Directive
2012/19/EU.
SAFETY
7
3. HW Installation
3.1. Overview
For a successful installation the following steps will be required:
•Mount the components
•Setup the software
In the following sections, these installation steps will be described.
3.2. Robot Mount
1. Mount the robot-specific adapter (if applicable)
2. Mount any optional accessories
3. Mount the Quick Changer option
4. Mount the tool(s) (if applicable)
3.2.1. Optional - Angle Bracket
Angle Bracket
1. M6x10 screws (ISO14580 8.8)
2. Angle Bracket (ISO 9409-1-50-4-M6)
3. Dowel pin Ø6x10 (ISO2338 h8)
4. Adapter/Robot tool flange (ISO
9409-1-31.5-4-M5)
Use 10 Nm tightening torque.
NOTE:
If using the optional Angle Bracket, make sure to always adjust the TCP as
described in the 6.3.2. COG, TCP section. Otherwise some of the functionality
may not work properly.
NOTE:
With Angle Bracket the HEX-E/H QC and the Dual QC is not supported.
HW INSTALLATION
8
3.2.2. Quick Changer Mounting
3.2.2.1. Quick Changer - Robot Side
Quick Changer - Robot Side
1. M6x8mm (ISO14580 8.8)
2. Quick Changer (ISO 9409-1-50-4-
M6)
3. Dowel pin Ø6x10 (ISO2338 h8)
4. Adapter/ Robot tool flange (ISO
9409-1-50-4-M6)
Use 10 Nm tightening torque.
3.2.2.2. Gecko SP1/3/5
Tool QC-R v2 QC-R v2-4.5 A
Gecko SP1/3/5
3.2.3. Tools
3.2.3.1. Gecko SP1/3/5
First, install the single Gecko SP pad. The pad
simply screws into the Gecko SP base.
Then:
HW INSTALLATION
9
Step 1:
Move the tool close to the Quick Changer as
illustrated.
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 aluminum
button on the Quick Changer and repeat the
steps in the reverse order.
HW INSTALLATION
10
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