ROBOTIQ ETF-CB-UR-KIT User manual

Robotiq External Tool FinishingKit

onUniversal Robots

InstructionManual robotiq.com | leanrobotics.org

Original Notice

1. Revisions 6

1. General Presentation 7

1.1. Robotiq Hand-EGripper 7

1.1.1. Gripper nomenclature 7

1.1.2. Object picking 9

1.1.3. Setup and Control 9

1.2. Robotiq Finishing Copilot software one-Seriesrobots 10

1.3. Robotiq Force Torque SensoronCB-Seriesrobots 10

2. Safety 13

2.1. Warning 13

2.1.1. Risk assessment and final application 14

2.1.2. Intended Use 14

FortheHand-EGripper 14

FortheFinishing Copilot software 14

3. Installation 15

3.1. Scope of deliveryof the ExternalToolFinishing Kit forUR(ETF-ES-UR-KIT) 15

3.2. RequiredToolsand Equipment 16

3.3. Environmentaland Operating Conditions 16

Hand-EGripper 16

FT Sensor for CB-Series robots 17

3.4. MechanicalInstallation 17

3.4.1. Installing the fingers/ fingertips/holderson the Hand-EGripper 17

3.4.2. Installing the Hand-EGripper onto e-Seriesrobots 19

3.4.3. Installing the FT Sensor and the Hand-Eonto CB-Seriesrobots 20

Step 1:Installationof theRobotiq ForceTorqueSensor 20

PowerSupplySpecifications 21

Wiring 22

Wiring withUSBto RS485Converter 22

Step 2:Installation of theHand-EGripper onto theFT Sensor 23

3.4.4. Installation of the External Tool Finishing Kit URCap Package for e-Series 24

3.4.5. Uninstalling URCap Package 27

4. Software 29

External Tool Finishing Kit -Instruction Manual

4.1. Hand-EGrippercontrolwithUniversalRobots 29

4.1.1. Gripper Dashboard 30

Overviewone-Seriesrobots 30

OverviewonCB-Seriesrobots 31

Features 32

4.1.2. Gripper Calibration menu and wizard 33

4.1.3. Gripper Toolbar 37

Overview 37

One-Seriesrobots 37

OnCB-Seriesrobots 37

One-Seriesand CB-Seriesrobots 37

Features 38

Gripperoperationwindow 40

4.1.4. Gripper Node 41

Command window 42

Features 43

Edit actionscreen 45

Features 45

Grip Checknode 47

One-Series 47

OnCB-Series 47

About 48

Errormessagesoverview 50

Gripper Program Template 50

4.2. Copilot controlwithUniversalRobots 51

4.2.1. Find Contact Offset node 52

Add Translation 54

Add orientation 56

4.2.2. ApplyContact Offset 57

4.2.3. Finishing Tool Control node 58

4.2.4. Path Recording node 60

Overview 62

Features* 63

External Tool Finishing Kit -Instruction Manual

4.2.5. Multipoint path node 64

Howto set up a Multipoint Path 66

Step 1 66

Step 2 68

4.2.6. Path Generator 69

4.2.7. ActiveDrive Toolbar 73

Overview 73

Toolbarcollapsed 73

Toolbarexpanded 74

Features 74

ErrorMessagesOverview 75

4.2.8. Insertion nodes 76

Child nodes 77

Features(Spiral) 77

Features(Rotational) 79

Features(Linear) 80

4.2.9. Find Surface Node 81

4.2.10. Force Control node 83

Overview 83

Features 83

Referenceframe 83

Parameters 84

Current vstargeted position 86

MotionFrame 88

Test 89

4.2.11. Force Event 90

Features(ClickDetection) 92

Features(Wait for Force) 92

4.2.12. Collision Detection 93

Forceand torquescript functions 95

5. Specifications 96

5.1. Technicaldimensionsof the Hand-EGripper 96

5.1.1. Fingersand fingertips 97

Rack 97

Flat Rubber (NBR) Overmolded Fingers 98

Fingertip holders 98

Flat aluminum finger 98

Grooved fingertips 99

5.2. Mechanicalspecificationsof the ExternalToolFinishing Kit 100

5.2.1. Specificationsof the FTSensor on CB-Seriesrobots 100

5.2.2. Specificationsof the Hand-EGripper 100

Payload and force 101

Maximum payload/External force vs.Custom finger design 102

Frictiongrasp and form-fit grasp 104

Maximum payload by grasp type 104

5.2.3. Center of massand tool center point of the FT Sensor and the Hand-EGripper 105

5.2.4. Moment and force limits 106

5.3. Electricalspecificationsof the FT Sensor 107

5.4. Electricalspecificationsof the Hand-E 107

6. Maintenance 108

7. Spare Parts, Kitsand Accessories 109

8. Troubleshooting 110

9. Warranty 111

10. Harmonized Standards, Declarationsand Certificates 112

11. License Agreement 113

12. Contact 117

1.Revisions

2019/11/19

Updateof thesoftwaresection:

lForcecontrol node:addition of thecurrent vstargeted position and themotion frame.

2019/10/10

Initial Release

Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and therefore maynot be reproduced in whole or inpart, whetherfor sale ornot,without prior writtenconsent from Robotiq.

Undercopyright law,copying includestranslationinto anotherlanguage orformat.

Informationprovided byRobotiq inthisdocument isbelieved to beaccurate and reliable.However,no responsibilityisassumed by

Robotiq for itsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe

edition date.

Theinformationcontained inthisdocument issubject to changewithout notice.

External Tool Finishing Kit -Instruction Manual

1.General Presentation

The Robotiq External Tool Finishing Kit, is an application Kit that allows you to automate finishing tasks with the combination of a

Robotiq Hand-EGripperand aFinishing Copilot software.The Robotiq Finishing Copilot enablesyou to program an external TCPand

let the robot knows that the finishing tool is external to the robot. The finishing tasks isthen processed with the robot bringing the part

to theexternal TCP,which allowstherobot to control theforce on atrajectorywiththeexternal tool.

Finishing Copilot’scontact offset node usesa point on theexternal tool asa reference to measure wear.With 0.2 mm precision,contact

offset validates the tool’s exact position anytime you wish. If there’s a slight change, the robot program will automatically adapt all

related parameters.

1.1.Robotiq Hand-EGripper

TheRobotiq Hand-EGripperisa roboticperipheral designed for industrial applications.It isauniqueroboticdesigned to quicklypick,

placeand handlepartsinabroad rangeof sizesand shapes.

Info

Thismanual usesthemetricsystem.Unlessotherwise specified,all dimensionsarein millimeters.

1.1.1.Grippernomenclature

The Hand-EGripperisa parallel gripper.Itstwo fingersareactuated bya singlemotor.

Fig.1-1:Robotiq Hand-EGripper

External Tool Finishing Kit -Instruction Manual

The Hand-Ebasicgripper unit includesflat aluminum fingersovermolded with NBR,asshown inFigure 1.1 above.

Theusercaninstall fingersdirectlyontheracks,orfastenfingertipsto fingertip holders,whichareinturninstalled ontheracks.Referto

theInstallation section formore informationonhowto integrate custom fingersand fingertipsto Hand-E.

Fig.1-2:Mounting a fingeron arack

When ordered as a kit, a fingertip starting kit is included. Please refer to the Spare Parts, Kits and Accessories section of the Hand-E

Instruction Manuel availableat robotiq.com/support.Thesefingertipsshould be mounted onto fingertip holders.

Fig.1-3:Mounting a fingertip onafingertip holder

Tip

Youcancustomizefingersand fingertips.Mount custom fingerson racksand fingertipson fingertip holders.

External Tool Finishing Kit -Instruction Manual

1.1.2.Object picking

The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping: fingers can pick hollow

partsfrom inside by applying pressure with theoutersurface of the fingers.

See the figure below for a representation and refer to the Picking Features section for details on available position commands for your

gripper.

Fig.1-4:Hand-EGripperinternal and external gripping

1.1.3.Setup andControl

The Hand-E Gripper has an embedded object detection feature based on indirect sensing methods. When picking an object with the

"go to" command, the gripper status indicates whether or not an object has been picked, using only an object detection bit (0 or 1).

Whenanobject isdetected,thegripper no longerincreasestheforce exerted on theobject.If theobject isbeing dropped,thegripper

automaticallyexertsmoreforce until theobject isdetected oruntil the positiontarget from the"go to command" isreached.

For more details on the installation, the couplings, the Object Detection, the wiring and the control, please refer to the Hand-E

InstructionManual.

1.2.Robotiq FinishingCopilot software one-Seriesrobots

The Robotiq Finishing Copilot is a software package designed for using the force and torque values read by a force torque sensor

embedded in the e-Series robot wrist. The software interface provides force and torque feedback that can be used for robotic

applications suh as hand guiding, force control processes, assembly tasks, product testing, and much more on e-Series robot. The

hardware counterpart of Finishing Copilot is the license dongle, a USB storage device hosting the product license. The Finishing

Copilot software is used for the implementation of a force torque sensor's operational commands in a user interface and that unlocks

force control featuresand functionalities.

Fig.1-5:Finishing Copilot LicenseDongle

1.3.Robotiq Force Torque Sensor onCB-Seriesrobots

The Force TorqueSensor isa roboticperipheral designed for force and torquedata acquisition onCB-Seriesrobot.

Fig.1-6:General presentation of the Robotiq Force TorqueSensorswith mainfeatures.

lThe end-of-armtool contact surface(ingreen)istheonlypoint of contact allowed between theSensorand thetool to ensure correct

forceand torque feedback.

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