Niryo Ned2 Manuel utilisateur

Ned2 User ManualNed2 User Manual
Ned2Ned2
RobotRobot
Ned2  is  a  six-axis  collaborative  robot,  based  on  open-source  technologies.  It  is  intended  for
education, research and Industry 4.0.
Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)
2022, Niryo All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without prior written consent of Niryo SAS

With the same aluminum structure as Ned, Ned2 will continue to meet your requirements in terms of

robustness, precision (0.5 mm) and repeatability (0.5 mm).

Ned2 is based on Ubuntu 18.04 and ROS Melodic and benets from the capabilities of the Raspberry PI

4, a high performance 64-bit ARM V8 processor and 4gb of RAM.

Discover a robot with increased performances, thanks to new servo motors featuring Silent Stepper

Technology, significantly reduces the noise level of the robot.

Ned2 is a collaborative robot based on Ubuntu 18.04 and ROS (Robot Operating System) Melodic, an

open-source solution created for robotics. Through ROS, Ned2 has multiple libraries allowing you to

conceive many programs, from the most simple to the most complex ones, responding then, in a exible

way, to your needs.

Ned2 tools technical specificationsNed2 tools technical specifications

Mounting a tool on Ned2 is made easy with our brand new EasyConnect system. Simply plug your tool,

connect its cable to the control panel, and it is ready to use.

Ned2’s package includes a Custom Gripper. Its standard jaws can manipulate small objects, and you can

3D print your own custom jaws.

Ned2 can also be used with:

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

The Large Gripper (index.html#large-gripper) which has the ability to grab larger objects while keeping

the ability to close entirely;

The Adaptive Gripper (index.html#adaptive-gripper) which allow Ned2 to grab non-standard objects

with complex shapes (eg. an egg);

The Vacuum Pump (index.html#vacuum-pump) to grab objects with plane and non-porous surfaces;

The Electromagnet (index.html#electromagnet) that is useful to manipulate metallic objects, from one

to many (eg. screws, bolts…).

Ned2’s Ecosystem is designed to let you reproduce advanced use cases of industry 4.0.

Vision SetVision Set

The Vision Set gives Ned2 the ability to detect objects and select the ones you want to interact with. It

comes with a camera and objects of dierent shapes and colors to allow you to study topics such as image

processing, machine learning and Articial Intelligence thanks to the contribution of vision. This set

includes:

A camera;

A workspace which is designed around a specific repositionnable material;

6 objects (3 rounds, 3 squares) of dierent colors to use our built-in recognition system based on colors

and shapes. The squares are designed to be able to act as containers for the circles. Easily create an

industry 4.0 pick & pack application with no particular knowledge of programming;

A calibration tip to set your workspace up.

Conveyor Belt (v2)Conveyor Belt (v2)

The Conveyor Belt (v2) is the key add-on to prototype industry 4.0 production lines.

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

The Conveyor Belt (v2) is composed of:

A mountable workspace to use vision functions directly on the Conveyor Belt;

A slope that can help to create complex or multi-robot processes;

An end-stop to stop the objects when they reach the end of the Conveyor Belt;

The 6 objects of the Vision Set to extend the quantity of objects you can use on your production line.

With Ned2’s ecosystem, you have the optimal solution to discover, learn and prototype industry 4.0

processes.

Overview of this manualOverview of this manual

This manual contains instructions for:

Safety Information about Ned2;

Mechanical and electrical installation of the robot;

Software of the robot;

Maintenance and troubleshooting.

This manual should be read before:

Installation and electrical connections;

First usage of the robot;

Maintenance and repair.

Safety noticeSafety notice

Warning

You must read, understand, and follow all safety information in this manual.

It is important that the safety instruction on this manual and the electrical and the mechanical instructions

are followed. The robot specications should be respected to avoid all damage to the machine or to the

user.

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

Additional contentAdditional content

You can find additional content by clicking on the link here (https://docs.niryo.com/).

Hardware introductionHardware introduction

This document contains a description of the Ned2 product, including details of the following:

Mechanical and electrical installation instructions;

precautions for safe use;

technical characteristics of the robot;

product warranty details.

Please refer to software documentation (index.html#advanced-programming) for programming details.

Important safety noticeImportant safety notice

Warning

The robot is assessed as a partly completed machinery. A risk assessement in accordance

with the safety regulations applicable in your country is necessary prior to each installation

and use of the robot. Be sure to follow the safety instructions in this manual.

Please note that:

The robot can only be used under the proper technical conditions, for its intended uses, while

taking into consideration potential hazards;

the robot must be used in accordance with the instructions in this manual;

Niryo is not liable for any modication made to the software or physical characteristics of the

robot by the user.

We shall not be liable for any damage caused if it is used in a way that does not comply with the

instructions given in this manual.

Safety instructionsSafety instructions

User responsibilityUser responsibility

Make sure that the aforementioned risk assessment is performed before each use of the robot.

Make sure that the incorporation of the robot into other applications or ecosystems does not aect the

robot’s safety aspects.

Hardware and/or software modificationsHardware and/or software modifications

Any modification of the equipment is prohibited.

Niryo relies on the open-source philosophy. Software modications are permitted. However, the

modification of the software elements indicated below is prohibited:

Low-level programming files (stack hardware).

Configuration of the Raspberry Pi.

Robot configuration file (speed and acceleration limits, position axes and torque limits).

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

Embedded software and configuration of the motor parameters.

Niryo disclaims all liability for any damage caused to and by the robot as a result of these modifications.

Safety symbolsSafety symbols

This section species all dangers that can arise when doing the work described in the User Manual. Each

danger consists of:

A caption specifying the danger level (DANGER, WARNING, or CAUTION) and the type of danger;

A brief description of the danger;

Instruction about how to eliminate danger.

Symbol Designation Description

DANGER Warns that if instructions are not followed, an accident will occur

resulting in personal injury.

WARNING Warns that if instructions are not followed, an accident will occur

which could lead to personal injury or damage to the product.

CAUTION Warns of possible damage to the product.

NOTE Describes an important fact or condition.

ADVICE Describes additional information or an easy way to use the function.

ELECTROSTATIC

DISCHARGE Warns of a possible electrostatic discharge which could damage the

robot.

ELECTRICAL

SHOCK Warns of an electrical hazard.

CHRUSHING OF

HANDS Warns of the risk of crushing hands between two mechanical parts.

General safety informationGeneral safety information

Danger

Before installing, using or programming Ned2, you must read the specications and the

product manual.

Install Ned2 and all the electrical equipment in accordance with the specications and

warnings in the Installation, Mechanical interface and Electrical interface chapters.

It is important to ensure that any modication to the robot’s software will not cause any danger or

damage to the user and the product.

Children are not permitted to handle the robot.

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

Warning

Make sure that the robot is properly installed on a rm surface with enough clearance to

avoid shocks and collisions. (Refer to part 12.3. Range of motion of the robot).

Cutting the power or activating the emergency stop button can cause the arm to drop. This

drop is cushioned. Do not touch the robot when activating the emergency stop in order to avoid

any collision.

Be careful not to use the robot in unsuitable environments (e.g. outdoors).

Do not put or install Ned2 in a damp environment or near water.

Do not install or use Ned2 in hazardous environments (e.g. in a strong magnetic eld, hazardous

gas, re or near ammable products) to prevent the hazards that can occur as a result of outdoor

conditions.

Make sure that external modications to the motor parameters or robot software do not damage

the product.

The robot and motors generate heat when they are running. Do not touch or handle the robot

during operation or after prolonged use, the high temperature may cause pain.

Regularly monitor the motor and arm temperature in Niryo Studio.

When the Ned2 is activated, keep away from the areas labeled with the pinch warning sticker, to

avoid any injury.

Make sure to move to robot to home position before:

powering Off;

powering On;

reboot motors with Niryo Studio.

Caution

Do not turn o the robot during a sequence or movement, except when absolutely

necessary, as this can shorten the lifetime of the robot.

Preferably switch o the robot using the push button. Avoid using the emergency stop

button except in case of danger.

Failure to follow the connection instructions could damage the tool or robot.

Voltage related risks, robotVoltage related risks, robot

A danger of high voltage is associated with the robot in:

The power supply of the motors (12V , 11.4V, 5V);

Ned2’s grippers are powered by 5V. A risk of short circuit and sparks exists. Be sure to make the

installations with the power disconnected.

Safety actionsSafety actions

Fire extinguishing

Note

Use a CARBON DIOXIDE (CO2) extinguisher in the event of a fire in Ned2’s system.

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

Manually stopping or overriding the arm: if needed, Ned2 arm can be stopped manually. This is

possible since Ned2 arm is light, the arm force is limited, and the drivetrain power is limited.

To prevent unnecessary damage and wear of Ned2 arm, it is recommended to use the normal stopping

functions of Ned2 (by the software or the top button).

Note

Ned2 is not equipped with brakes since its weight and design do not require a holding brake.

Installation and commissioningInstallation and commissioning

This section specifies the procedures to follow during unpacking and transportation.

TransportTransport

Be sure to transport the robot in its original box to avoid damage.

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

Warning

Maintain good posture when handling the arm or arm cartons to avoid back injuries.

What the box containsWhat the box contains

When you order Ned2 you receive a box with the following items:

1x Ned2 Robot

1x Custom Gripper

1x Power supply

1x Safety box

2x Analog I/O connector

2x Digital I/O connector

1x Universal travel plug adapter

1x SD card reader

1x manual instruction

1x Quickstart

Intended useIntended use

The Ned2 robot is intended for educational, and research and development purposes, i.e.:

learning robotics;

research and development in robotics;

simulation and prototyping of complete industrial scenarios such as “Pick & Place” (take an object to

move it), “Pick & Pack” (take an object to insert it into a packaging);

hardware application: connect and control the robot with sensors and external actuators in order to

simulate an application, while respecting the conditions defined in this instruction manual.

The operations below do not comply with the uses set by Niryo. They include:

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

use as a children’s toy;

use for industrial tasks;

use for handling inappropriate objects (with unsuitable grippers, objects whose mass is greater than

the maximum authorized load);

use that exceeds the stated specifications.

Any use of the robot and its ecosystem that does not comply with the uses initially intended by Niryo must

be expressly authorized by Niryo.

Unpacking and installationUnpacking and installation

1. Inspect Ned2’s packaging to make sure that nothing is damaged;

2. Remove the packaging and make sure that the product has not been damaged in any way and that

nothing has been mislaid during transport;

3. Put Ned2 in a location that has been specifically allocated to its use;

4. Pay attention to the commissioning and safety instructions.

Warning

Maintain good posture when handling the arm or arm cartons to avoid back injuries.

Make sure the robot is handled correctly so that the arm cannot fall during packing, loading,

unloading or unpacking. Handling areas are provided to facilitate the transport of the robot

(see below).

Make sure that the robot is handled correctly so that hands cannot get caught in the joints. To do

this, respect the handling zones specified below.

Robot handling area

Ned2 User Manual (v1.0.0)Ned2 User Manual (v1.0.0)

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