ROBOTIQ 56854B Manuel utilisateur

Robotiq Finishing Kits

Instruction Manual

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Revisions 4

1. General Presentation 6

1.1. Robotiq Finishing Kits 6

2. Safety 9

2.1. Warning 9

2.2. Intended Use 11

3. Installation 12

3.1. Scope of delivery 12

3.2. Environmental and Operating Conditions 13

3.3. Mechanical installation 14

3.4. URCap Package on Universal Robots 22

4. Software 28

4.1. Copilot control with Universal Robots 28

4.2. Visible Nodes using Copilot 29

4.3. Force and torque script functions 31

4.4. ActiveDrive Toolbar 31

4.5. Find Contact Offset node 36

4.6. Apply Contact Offset node 42

4.7. Finishing Tool Control node 43

4.8. Path Recording node 45

4.9. Multipoint path node 49

4.10. Path Generator node 53

4.11. Insertion nodes 61

4.12. Find Surface Node 65

4.13. Force Control node 68

4.14. Force Event node 76

4.15. Collision Detection node 78

5. Specifications 80

5.1. Technical Dimensions of the Finishing Kits 80

5.2. Technical Dimensions of the FT 300-S Force Torque Sensor 82

5.3. Mechanical Specifications 83

5.4. Center of mass and tool center point 84

Robotiq Finishing Kits- Instruction Manual

5.5. Signal Specifications 85

5.6. Electrical Ratings 86

6. Maintenance 87

6.1. Robotiq Finishing Kits 87

6.2. FT 300-S Force Torque Sensor 87

7. Spare Parts, Kits and Accessories 88

7.1. Surface Finishing Kits 88

7.2. Sanding Kits 88

8. Troubleshooting 89

8.1. Monitoring the Sensor state (Surface Finishing and Sanding Kits) 89

9. Warranty 90

9.1. Surface Finishing Kit and Sanding Kit 90

9.2. FT 300-S Force Torque Sensor 90

9.3. Exclusions 90

10. License Agreement 91

11. Contact 95

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in

specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this

manual online at support.robotiq.com

2021-08-13

Update of section 3 : Installation

Added section 4.2 : Visible Nodes using Copilot

Update of Section 4.4 : ActiveDrive Toolbar

Update of section 5.3 : Mechanical specifications

Added section 5.4 :Center of mass and tool center point

Update of section 8 : Spare Parts, Kits and Accessories

2020-04-16

Update of the Dynabrade finishing tool models compatible with the Finishing Kits.

2020-03-02

Initial release: Note that the Sanding Kit instructions are now included in this manual.

Robotiq Finishing Kits- Instruction Manual

This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by

international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written

consent from Robotiq. Under copyright law, copying includes translation into another language or format.

Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed

by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after

the edition date.

The information contained in this document is subject to change without notice.

1. General Presentation

Info

The following manual uses the metric system. Unless specified, all dimensions are in millimeters.

1.1. Robotiq Finishing Kits

The term '' Finishing Kits'' used in the following manual, refer to the Robotiq Surface Finishing Kit and the Robotiq Sanding Kit,

unless otherwise specified. This Robotiq Kit is compatible with e-Series and CB-Series Universal Robots and with all Mirka and

Dynabrade finishing tools mentioned in this manual. The Kits can fit with an important variety of material surfaces, as wood, plastic,

metal, fiberglass, solid surface and carbon fiber and are the only all-in-one hardware and software solution for cobots that allow a

quick programming, the generation of complex paths and a part position validation.

1.1.1. Surface Finishing Kit

The Surface Finishing Kit is part of the Robotiq Finishing Kits. It includes a Mirka and a Dynabrade bracket, the Robotiq Finishing

Copilot software (in a dongle for e-Series) and a valve accessories kit. CB-Series kits also include an FT 300-S Force Torque Sensor

for force and torque data acquisition and in which the software is included. It can fit with Mirka and Dynabrade finishing tools and

can be used for finishing applications such as polishing and sanding.

1.1.2. Sanding Kit

The Sanding Kit is now part of the Robotiq Finishing Kits. It includes the Robotiq Finishing Copilot software (in a dongle for e-

Series), an air control accessories kit and the Dynabrade orbital sander model 56819B and its bracket. CB-Series kits also include an

FT 300-S Force Torque Sensor for force and torque data acquisition and in which the software is included. Note that the Sanding

Kit can also fit with Dynabrade models 56854B, 56819B, 56830B, 56863B, 57404B, 57814B.

1.1.3. Robotiq FT 300-S Force Torque Sensor

The installation of the Finishing kits on CB-Series robots require the preliminary installation of the Robotiq FT 300-S Force Torque

Sensor .

Info

The Robotiq FT 300-S Force Torque Sensor will have to be used if a CB-Series Universal Robot is used.

The terms ''Sensor'', ''Robotiq Sensor'', '' Force Torque Sensor'', '' Force Sensor'', used in the following manual refer to the

Robotiq FT 300-S Force Torque Sensor unless specified. The Robotiq FT 300-S Force Torque Sensor is a robotic peripheral

designed for force and torque data acquisition.

Info

The following section presents key features of the Sensor, and must not be considered as being related to Sensor

operation. Every feature is detailed in the applicable section of the manual. Safety guidelines must be read and

understood before any operation is attempted with theSensor.

Robotiq Finishing Kits- Instruction Manual

Fig. 1-1: General presentation of the Robotiq Force Torque Sensors with main features.

Main features

lThe end-of-arm tool contact surface (in green) is the only point of contact allowed between the Sensor and the tool to ensure cor-

rect force and torquefeedback.

lThe robot contact surface (in blue) is the only contact point allowed between the Sensor and the robot for fastening the sensor to

the robot. Note that the inside ring must not touch the robot.

Info

Details on the bolt pattern and dowel pin for the tool side and the robot side can be found in the Specifications section.

lM12 connector allows for both power and data transfer for the Sensor.

lStatus LED provides visual information on the status of the Sensor, see Status LED section of the Copilot Instruction Manual for

details.

Robotiq Finishing Kits- Instruction Manual

Fig. 1-2: FT 300-S Force Torque Sensor force and torque diagrams.

The figure above represents the various forces and torques that the FT 300-S Force Torque Sensor can measure. Reference frame

is centered on the Sensor as shown above and visual inscriptions are also represented on it.

lThe Z axis passes through the center of the depression with positive direction in the tool direction.

lThe X axis traces a symmetric line centered on the connector; the positive direction points the opposite way away from the con-

nector.

lThe Y axis uses the right hand thumb rule according to X-Z.

2. Safety

Warning

The operator must have read and understood all the instructions in this manual before handling one of the Robotiq

Finishing Kits and using the license mentioned in this manual.

Info

The term "operator" refers to anyone responsible for any of the following operations, associated robot or tools, with the

Robotiq products and license mentioned in this instruction manual:

lInstallation

lControl

lCalibration

lProgramming

lMaintenance

lInspection

lDecommissioning

Info

The drawings and pictures in this documentation are representative examples and differences may exist between them

and the delivered product.

2.1. Warning

Info

Any use of the Finishing Kits in noncompliance of these warnings is inappropriate and may cause injury or damage.

Warning

A force torque sensor used in human-robot collaboration must not be considered a complete safety measure, additional

dedicated safety device(s) must be considered. Sensor failure can occur and result in danger for workers or machinery.

See local or international safety measure for human-robot collaboration.

Robotiq Finishing Kits- Instruction Manual

Finishing Kits Warning

lThe hardware components of the Finishing Kits need to be properly secured before operating the robot.

lEye protection must be worn at all times when using finishing tools.

lKeep fingers, clothes and hair away from the sanding tool while the power is on.

lDo not install or operate Finishing Kits that are damaged or have lacking parts.

lBe sure no one is in the robot and/or tooling path before initializing the robot's routine.

lAlways meet the Finishing Kits payload specifications.

lSome dust created by sanding contain chemicals. Work in a well ventilated area or wear appropriate protection.

lDo not use the Finishing Kits in potentially explosive atmospheres.

lMake sure no one is in the robot and/or the Finishing Kit's path before initializing the robot's routine.

lPotentially explosive atmospheres can be caused by dust and fumes resulting from sanding or grinding. Always use

dust extraction or suppression systems which are suitable for the material being processed.

lAll local safety measures and/or laws on robot operation must be applied to all the Robotiq products mentioned in this

instruction manual.

lDo not use any of the Robotiq products on people or animals.

lRefer to the finishing tool’s instruction manuals for further warnings and safety considerations.

Sensor Warning

lNever supply the Sensor with an alternative current source.

lMake sure all cord sets are always secured at both ends, at the Sensor and at the robot controller.

lAlways meet the recommended keying for electrical connections.

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