OnRobot RG2-FT Manuale utente
USER MANUAL
RG2-FT
Industrial Robot Gripper
For the Universal Robots
Edition E1
OnRobot URCap Plugin Version 3.3.0
July 2018
OnRobot © 2018 www.onrobot.com
Content
1Preface ................................................................................................................................ 6
1.1 Target Audience .....................................................................................................................6
1.2 Intended Use .......................................................................................................................... 6
1.3 Important Safety Notice ........................................................................................................6
1.4 Warning Symbols ...................................................................................................................7
1.5 Typographic Conventions ......................................................................................................8
2Getting Started.................................................................................................................... 9
2.1 Scope of Delivery....................................................................................................................9
2.2 Mounting ..............................................................................................................................10
2.3 Mechanical Dimensions.......................................................................................................11
2.4 Load Capacity .......................................................................................................................11
2.4.1 Gripper Load .................................................................................................................11
2.4.2 Finger Sensor Load ......................................................................................................12
2.5 Fingertips..............................................................................................................................13
2.6 Gripper Working Range........................................................................................................14
2.6.1 Finger Thickness ..............................................................................................................15
2.6.2 Gripping Speed .............................................................................................................15
2.7 Cable Connections................................................................................................................16
2.8 UR Compatibility...................................................................................................................17
2.9 URCap Plugin Installation ....................................................................................................17
2.10 URCap Plugin Setup .............................................................................................................18
3Using the URCap Plugin..................................................................................................... 21
3.1 OnRobot Hand Guide Toolbar..............................................................................................21
3.2 OnRobot Feedback Variables ..............................................................................................23
3.3 OnRobot URCap Commands ...............................................................................................24
3.3.1 F/T Width .................................................................................................................24
3.3.2 F/T Set Load ...........................................................................................................27
3.3.3 F/T Zero ...................................................................................................................28
3.3.4 F/T Measure ...............................................................................................................29
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3.3.5 F/T Move ...................................................................................................................31
3.3.6 F/T Search...............................................................................................................33
3.3.7 F/T Waypoint..........................................................................................................35
3.3.8 F/T Path ...................................................................................................................37
3.3.9 F/T Detect...............................................................................................................39
3.3.10 F/T Insert Part...................................................................................................41
3.3.11 F/T Control ............................................................................................................44
3.4 Script Function .....................................................................................................................47
3.4.1 Zero the optical offset..................................................................................................47
3.5 Software Uninstallation.......................................................................................................47
4List of Acronyms................................................................................................................ 48
5Appendix ........................................................................................................................... 49
5.1 Technical Specifications.......................................................................................................49
5.2 Changing the IP of the Compute Box ..................................................................................50
5.3 Return Values.......................................................................................................................51
5.3.1 F/T Width Command Return Values ......................................................................51
5.3.2 F/T Move Command Return Values.........................................................................51
5.3.3 F/T Search Command Return Values....................................................................52
5.3.4 F/T Detect Command Return Values....................................................................52
5.3.5 F/T Insert Part Command Return Values ........................................................52
5.4 Troubleshooting ...................................................................................................................54
5.4.1 URCap Plugin Setup error............................................................................................54
5.4.2 Too Close to Singularity ...............................................................................................56
5.4.3 Warning sign on Hand Guide Bar.................................................................................57
5.4.4 “socket_read_binary_integer: timeout” ....................................................................57
5.4.5 “Socket vectorStream opening was unsuccessful.”...................................................57
5.4.6 Path Replay is Slower than Expected .........................................................................57
5.4.7 “Error number -2” on Path Saving ..............................................................................57
5.4.8 “Error number -3” on Path Saving ..............................................................................58
5.5 Declarations and Certificates ..............................................................................................59
OnRobot © 2018 www.onrobot.com
5.5.1 CE/EU Declaration of Incorporation (original).............................................................59
5.6 Editions.................................................................................................................................60
Preface 5
OnRobot © 2018 www.onrobot.com
Copyright © 2017-2018 OnRobot A/S. All rights Reserved. No part of this publication may be
reproduced, in any form or by any means, without the prior written permission of OnRobot
A/S.
Information provided within this document is accurate to the best of our knowledge at the
time of its publication. There may be differences between this document and the product if
the product has been modified after the edition date.
OnRobot A/S. does not assume any responsibility for any errors or omissions in this
document. In no event shall OnRobot A/S. be liable for losses or damages to persons or
property arising from the use of this document.
The information within this document is subject to change without notice. You can find the
latest version on our webpage at: https://onrobot.com/.
The original language for this publication is English. Any other languages that are supplied
have been translated from English.
All trademarks belong to their respective owners. The indications of (R) and TM are omitted.
Preface 6
OnRobot © 2018 www.onrobot.com
1Preface
1.1 Target Audience
This document is intended for integrators who design and install complete robot
applications. Personnel working with the gripper are expected to have the following
expertise:
A. Basic knowledge of mechanical systems
B. Basic knowledge of electronic and electrical systems
C. Basic knowledge of the robot system
1.2 Intended Use
The gripper is designed for grabbing objects, installed on the end effector of a robot,
typically used in pick and place and assembly applications. OnRobot is not liable for any
damage or injury resulting from misuse.
Misuse includes, but is not limited to:
•Use in potentially explosive environments.
•Use in medical and life critical applications.
•Use the Force/Torque sensor values for safety related purposes
•Use outside the permissible operational conditions and specifications
•Use before performing a risk assessment.
1.3 Important Safety Notice
The gripper is partly completed machinery and a risk assessment is required for each
application the gripper is a part of. It is important that all safety instructions herein are
followed. The safety instructions are limited to the gripper only and do not cover the safety
precautions of a complete application.
Below is listed some potential dangerous situations, that the integrator as a minimum must
take to consideration. Please note that there can be other dangerous situations depending
on the specific situation.
•Entrapment of limbs between the Grippers finger arms.
•Penetration of skin by sharp edges and sharp points on the grabbed object.
•Consequences due to incorrect mounting of the Gripper.
•Objects falling out of the Gripper, e.g. due to incorrect gripping force or to high
acceleration from a robot.
Preface 7
OnRobot © 2018 www.onrobot.com
The complete application must be designed and installed, in accordance with the safety
requirements specified in the standards and regulations of the country where the
application is installed.
1.4 Warning Symbols
DANGER:
This indicates a very dangerous situation which, if not avoided, could result
in injury or death.
WARNING:
This indicates a potentially hazardous electrical situation which, if not
avoided, could result in injury or damage to the equipment.
WARNING:
This indicates a potentially hazardous situation which, if not avoided, could
result in injury or major damage to the equipment.
CAUTION:
This indicates a situation which, if not avoided, could result in damage to the
equipment.
NOTE:
This indicates additional information such as tips or recommendations.
Preface 8
OnRobot © 2018 www.onrobot.com
1.5 Typographic Conventions
The following typographic conventions are used in this document.
Table 1: Conventions
Courier Text
File paths and file names, code, user input and computer output.
Italicized text
Citations and marking image callouts in text.
Bold text
UI elements, including text appearing on buttons and menu options.
Bold, blue text
External links, or internal cross-references.
<angle brackets>
Variable names that must be substituted by real values or strings.
1. Numbered lists
Steps of a procedure.
A. Alphabetical lists
Image callout descriptions.
Getting Started 9
OnRobot © 2018 www.onrobot.com
2Getting Started
2.1 Scope of Delivery
In the Universal Robots OnRobot RG2-FT Gripper Kit everything is provided that is required
to connect the OnRobot gripper to your UR robot.
Getting Started 10
OnRobot © 2018 www.onrobot.com
2.2 Mounting
Use only the screws provided with the gripper. Longer screws could damage the gripper or
the robot.
To mount the gripper, follow this process:
1. Fasten the Gripper bracket to the Robot by four M6x8 screws. Use 7 Nm tightening
torque. Use the T20 Torx L-key.
2. Fasten the Gripper to the adapter by six M4x8 screws. Use 2 Nm tightening torque.
Use the T20 Torx L-key.
CAUTION:
The design of the standard Gripper bracket allows the angle of the Gripper to
be adjusted from 0° to 180° in steps of 30°.
However, to ensure all software functions are work properly, mount the
gripper straight, exactly as you can see on the exploded view. Please also
note where the tool connector is relative to the gripper connector.
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