ROBOTIQ Screwdriving Solution User manual

Brand: ROBOTIQ

Model: Screwdriving Solution

Category: Robotics

Type: User manual

Robotiq ScrewdrivingSolution

for Universal Robots

Instruction Manual

ROBOTIQ SCREWDRIVING SOLUTION

robotiq.com | leanrobotics.org

Original Notice

Robotiq Screwdriving Solution - Instruction Manual

Table of Contents

Revisions 4

1. General Presentation 6

1.1. Screwdriving SolutionNomenclature 7

1.2. ScrewFeeding 10

1.3. ScrewPicking and Fastening 11

2. Safety 12

2.1. Disclaimer 12

2.2. Warnings, RiskAssessment and Final Application 12

2.3. Intended Use 14

3. Installation 16

3.1. Scope of Delivery 17

3.2. Required Toolsand Equipment 18

3.3. Environmental and Operating Conditions 19

3.4. Mechanical Installation 21

3.5. Electrical Setup 23

3.6. URCap Package 27

4. Operation 36

4.1. Calibrating the FT 300-SForce Torque Sensor(CB-SeriesOnly) 36

4.2. Force Copilot License Dongle (e-Series) 36

4.3. ScrewFeederSignals 36

4.4. Introductionto the ScrewdriverToolbar 38

4.5. Input AirPressure Validation 40

4.6. ScrewdriverVacuum Sleeve Selection 41

4.7. Vacuum Coupler Adjustment 43

4.8. ScrewFeederAdjustment 44

4.9. ScrewFeeding Test 48

5. Software 49

5.1. Overview 49

5.2. InstallationMenu 50

5.3. Command Window 53

Robotiq Screwdriving Solution - Instruction Manual

5.4. Pickand ScrewSequence 59

5.5. Advanced Script Functions 62

6. ScrewdriverCalibration 64

6.1. Material Required 64

6.2. CalibrationProcedure 64

7. Specifications 70

7.1. Technical Dimensions 70

7.2. Mechanical Specifications 72

7.3. Electrical Specifications 76

8. Maintenance 77

8.1. Robotiq Screwdriver 77

8.2. Robotiq ScrewFeeder 80

9. Spare Parts, Kitsand Accessories 83

9.1. Robotiq Screwdriver 83

9.2. Robotiq ScrewFeeder 86

10. Troubleshooting 87

10.1. Screwdriver Behavior 87

10.2. ScrewFeederBehavior 87

10.3. ErrorManagement 89

11. Warranty 94

12. Harmonized Standardsand Declarations 96

13. Appendix 97

13.1. Script Functions 97

14. Contact 108

Robotiq Screwdriving Solution - Instruction Manual

Revisions

Robotiq maymodify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin

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

manual online at support.robotiq.com.

Revision2023/04/05

lUpdated Mechanical Specificationssection:

lScrewdriver torque specifications(torque load, torque tolerance).

lUpdated the script functionsin the Software section and Script Functionsappendix.

lUpdated the Screw Feeder Behavior in the Troubleshooting section.

Revision2022/08/01

lUpdated Mechanical Specificationssection (for unitswith firmware DL1-1.1.Xor later):

lScrewdriver torque specifications.

lMaximum RPM specifications.

Revision2022/05/10

lUpdated Advanced Screwdriving Functions(Software section), now refersto Scriptssection in Appendix.

lAdded torque tolerance and updated No load speed in Mechanical specificationstable (Specificationssection).

lUpdated Robotiq Screwdriver table in Troubleshooting section.

lAdded Appendix (detailed advanced screwdriving functions).

Revision2022/02/09

lAdded Input Air Pressure Validation section

lUpdated Screwdriver Vacuum Sleeve Selection section

lUpdated Advanced Screwdriving Functionssection

Revision2021/09/29

lUpdated Specificationssection

lUpdated Environmental and Operating Conditionssection

Revision2021/08/30

lInitial release

Robotiq Screwdriving Solution - Instruction Manual

Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof other countries, and by

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

consent from Robotiq.

Under copyright law, copying includestranslation into another language or format.

Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed

by Robotiq for itsuse. There may be some differencesbetween the manual and the product if the product hasbeen modified after

the edition date.

The information contained in thisdocument issubject to change without notice.

1.General Presentation

The terms“Screwdriving Solution,” “Robotiq Screwdriving Solution,” “Screwdriver,” “Robotiq Screwdriver,” “SD-100,” “Screw

Feeder,” “Robotiq Screw Feeder” and “SF-300” used in the following manual all refer to the Robotiq Screwdriving Solution and

pertaining components. The Robotiq Screwdriving Solution, composed of the Robotiq Screwdriver and Robotiq ScrewFeeder, isa

robotic peripheral designed for industrial applications. Itsdesign makesit aunique tool for fastening componentstogether in an

autonomousmanner. The ScrewFeeder deliversscrewsindividually at a picking area.The Screwdriver then collectsthem using

vacuum technology and proceedsto the actual screwdriving task.

Info

The following manual usesthe metric system. Unlessotherwise specified, all dimensionsare in millimeters.

Info

The following section presentsthe keyfeaturesof the Robotiq Screwdriving Solution; each feature isdetailed in the

appropriate section of the manual. Safety guidelinesmust be read and understood before any operation isattempted

with the Screwdriver and/or Screw Feeder.

Robotiq Screwdriving Solution - Instruction Manual

1.1.ScrewdrivingSolutionNomenclature

The Robotiq Screwdriving Solution comprisestwo main components: the SD-100 Robotiq Screwdriver,and SF-300 Robotiq Screw

Feeder.

Fig. 1-1: Screwdriver and Screw Feeder

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

1.1.1.Screw Feeder Nomenclature

The Robotiq Screw Feeder isan electrical device used to take in screws, bring them individually to a picking areawith a rail, and

send asignal to the robot for the Robotiq Screwdriver to pickthem up for screwdriving tasksand applications.

Fig. 1-2: Screw Feeder Nomenclature (Front)

Robotiq Screwdriving Solution - Instruction Manual

Fig. 1-3: Screw Feeder Nomenclature (Back)

Fig. 1-4: Screw Feeder Nomenclature (Internal Components)

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

Robotiq Screwdriving Solution - Instruction Manual

1.1.2.Screwdriver Nomenclature

The Robotiq Screwdriver isan end-of-arm robotic tool used to pick up screwsfrom the Screw Feeder’spicking areausing vacuum

technology, and to carry out screwdriving tasks.

Fig. 1-5: Screwdriver Nomenclature

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts.

Tip

Even though the Screwdriving Solution isdelivered with varioustypesof screwdriving bitsand vacuum sleevesto meet

the needsof numerousapplications, it ispossible to order specific typesof bitsand sleevesaccording to your needs.

Robotiq Screwdriving Solution - Instruction Manual

1.2.Screw Feeding

Fig. 1-6: Screw Feeding Cycle

1. Screwsare dropped in the screw chamber manually or via an automated device.

2. Screwsin the chamber move toward the reclaiming wheel.

3. The wheel bladesof the reclaiming wheel pickup screwsand bring them up to the rail.

4. The rail directsthe screwsto the front of the Screw Feeder; the rail brush oscillatesand pushesmisplaced screwsback in the

screw chamber.

5. At the end of the rail, screwsare individually directed to the screwsingulator

6. The screw singulator bringsa screw in front of the screw detection sensor, which sendsa Ready signal to the robot

controller.

Warning

Make sure not to fill the screw chamber of the Screw Feeder above the maxline.

Robotiq Screwdriving Solution - Instruction Manual

Fig. 1-7: Max Line of the Screw Chamber.

1.3.Screw Picking and Fastening

In a typical screwdriving application, the Robotiq Screwdriver collects, viavacuum action, a screwdispensed by the Robotiq Screw

Feeder. The robot arm then movesto the workpiece within reach and executesascrewdriving action based on the parametersset

by the user in the software interface.

Fig. 1-8: Typical Screwdriving Cell with the Robotiq Screwdriver and Screw Feeder.

2.Safety

Info

The term “operator” refersto anyone responsible for any of the following operationson the Robotiq Screwdriving

Solution:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

Warning

The operator must have read and understood all of the instructionsin the following manual before handling the Robotiq

Screwdriver and Screw Feeder.

2.1.Disclaimer

The intent of thissection isto provide general guidelinesfor the safe use and operation of the Robotiq Screwdriving Solution.

Alwaysfollow local regulations.

Thisdocumentation explainsthe variouscomponentsof the Robotiq Screwdriving Solution and general operationsregarding the

whole lifecycle of the product from installation to operation and decommissioning.

Robotiq acceptsno liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of thisproduct.

The operator shall observe safe and lawful practicesincluding but not limited to those set forth in thisdocument.

The drawingsand photosin thisdocumentation are representative examples; nonetheless, discrepanciesmaybe observed

between those and the delivered product.

2.2.Warnings, RiskAssessment and Final Application

Caution

Any use of the Screwdriving Solution in non-compliance of these warningsisinappropriate and may cause injuryor

damage.

Robotiq Screwdriving Solution - Instruction Manual

Caution

It isthe robot integrator'sdutyto ensure that all local safety measuresand regulationsare met.

Warning

lAir supplymust be dry and filtered according to ISO 8573-1class3.4.3.

lAir supplypressure should be set between 6.2bar and 7bar (90 psi and 100 psi)at the tool with an optimal pressure set

at 7 bar (100 psi).

lThe tubing should be properlysecured before pressurizing the Screwdriver.

lAlwaysbring the air pressure down to 0 psi before disconnecting or removing any tubing.

lNever operate the Screwdriver with leaking or worn tubing.

lThe Screwdriver needsto be properlysecured before operating the robot.

lDo not install or operate aRobotiq Screwdriver or ScrewFeeder that isdamaged or lacking parts.

lNever supply the Screwdriver with an alternative current source.

lMake sure all cord setsare alwayssecured at both ends, the Screwdriver’sand the robot’s.

lAlwaysmeet the recommended keying for electrical connections.

lMake sure no one isin the robot’sor Screwdriver’svicinity before initializing the robot'sroutine.

lKeep body partsand garmentsawayfrom the Screwdriver while the device ispowered on.

lDo not use the Screwdriver on people or animals.

The Robotiq Screwdriver hasto be equipped with either one of the 79dB or 85dB mufflers.

Given the noise levelsgenerated by the mufflers, please enforce the appropriate workplace, local, state or federal regulationsin

termsof hearing PPE.

Info

The 85 dBmuffler isinstalled by default on the Screwdriver.

Tip

For environmentsrequiring the limitation of noise levels, consider installing the 79dBmuffler onto the Robotiq

Screwdriver.

Robotiq Screwdriving Solution - Instruction Manual

The Robotiq Screwdriver ismeant to be used on Universal Robotscollaborative robots. The robot, Screwdriver, Screw Feeder, and

any other equipment used in the final application must be evaluated via athorough risk assessment.

The following non-exhaustive list presentsrisksthat must be assessed during the integration process:

lRisk of pinching between the Screwdriver and the processed objectsor the surrounding environment.

lRisk of pinching between the moving and stationary partsof the screw singulator of the Screw Feeder.

lRisk of damage to material or bodily injury caused by contact with ascrewdriving bit, or with a screwheld in place bythe

screwdriving bit and vacuum sleeve.

Depending on the application, there may be hazardsthat require additional protection and/or safety measures. For instance, the

screw handled by the Screwdriver could be inherently dangerousto the operator.

Warning

Lossof vacuum can occur due to power failure or air supplystoppage.

2.3.Intended Use

The Screwdriver isdesigned for reclaiming a screw from the screw detection position on the Screw Feeder, holding that screw in

order to move it from the detection position to afastening or screwing location, and fastening or screwing said screw.

2.3.1.Typical Applications

The Robotiq Screwdriving Solution wasdeveloped and designed to meet the requirementsof particular applications, namely in

the packaging and assembly of electronic components, and in the assembly of certain typesof manufactured goodsthat fall within

the general industry sector.

Such applicationsinclude:

lSecuring the lid of plastic and/or sheet metal containersfor mechanical components

lAssembling plastic and/or metal enclosuresfor mechanical components

lJoining electronic componentstogether

lSecuring the lid of plastic and/or sheet metal containersfor electronic components

lAssembling plastic and/or metal enclosuresfor electronic components

Robotiq Screwdriving Solution - Instruction Manual

2.3.2.Supported Fasteners

In order to meet the safety requirementsof operating the Screwdriving Solution, Robotiq deemed appropriate to indicate the

length, typesand diametersthat correspond to the specificationsof the Solution.

Caution

Please refer to the Screwdriver Vacuum Sleeve Selectionsection to view the possible combinationsbetween screw type,

screw diameter, screw head, screw drive, screwdriving bit and vacuum sleeve.

FastenerLengthSupported

lMaximum length of 25mm (1 in)

lMinimum length of 6 mm (1/4 in), or 10mm (3/8in)for socket head screws

FastenerTypesSupported

The Screwdriving Solution supportstwo main typesof screws:

lMachine screws

lUniform diameter with flat tip

lMainly used for assembly and installation

lSelf-tapping screws

lRequire apilot/pre-drilled hole

lIn their smaller versions, they are mainly used for plastic and sheet metal enclosuresand lidsfor electronic components

FastenerDiametersSupported

For the safe and normal use of the Robotiq Screwdriving Solution, Robotiq limitsthe supported diametersto:

lImperial

l#3gauge (0.0984 in / 2.5 mm)

l#4gauge (0.1181 in / 3 mm)

l#5gauge (0.125in / 3.2mm)

l#6gauge (0.1378 in / 3.5 mm)

l#8gauge (0.164in / 4.16mm)

lMetric

lM2.5 to M4

Info

For fastener diametersover M4 or #8, please validate your use case bycontacting Robotiq.

3.Installation

The following subsectionswill guide you through the installation and general setup of your Robotiq Screwdriving Solution.

Warning

Before installing the product:

lRead and understand the safety instructionsrelated to the Robotiq Screwdriving Solution.

lVerify your package based on the scope of deliveryand on your order.

lHave the required parts, equipment and toolslisted in the requirementsreadily available.

Warning

When installing the product:

lMeet the recommended environmental conditions.

lDo not operate the componentsof the Robotiq Screwdriving Solution or turn on the power supply before theyare

firmly anchored or mounted, and the danger zone isclear.

Warning

Failure to properly secure and install the equipment can result in material damage and seriousbodily injuries. In addition,

note that in situationswhere the installation isnot compliant, the warranty isvoid.

Robotiq Screwdriving Solution - Instruction Manual

3.1.Scope of Delivery

3.1.1.Screwdriver Standard Kit

Installationon CB-SeriesUniversal Robots

Installation on CB-Seriesrobotsrequiresthe FT300-SForce Torque Sensor and itscorresponding hardware and tools.

Please refer to the Quickstart Guide of the FT 300-SForce Torque Sensor provided in the kit.

Otherwise, for further information, you can also refer to the user manual of the FT 300-SForce Torque available at

support.robotiq.com.

lRobotiq SD-100 Screwdriver Basic Kit

lRobotiq SD-100 Screwdriver

lVacuum sleeve kit

l8-meter pneumatic hose

lRobotiq device coupling

lRS-485 to USB signal converter

l10-meter High-flex device cable

l79dB muffler

lPressure gauge with push-to-connect tube fitting

lHardware and tools

Info

The O-ring found in the hardware isfor replacement purposesonly. You do not need to install it upon first use of the

Robotiq Screwdriver.

lOne (1)screwdriving bit kit among:

lPhillipsstarting kit (PH1, PH2)

lTorx® starting kit (T8, T10, T15, T20)

lMetric hex socket starting kit (2 mm, 2.5mm, 3 mm)

lImperial hex socket starting kit (5/64 in, 7/64in, 3/32 in)

lFT 300-SStandard Kit (CB-Seriesonly)

lRobotiq Force Copilot license dongle (e-Seriesonly)

Robotiq Screwdriving Solution - Instruction Manual

3.1.2.Screw Feeder Standard Kit

lRobotiq SF-300 Screw Feeder

lScrew Feeder mounting brackets

lScrew Feeder cable for I/O signalsand ground

lProtective earth cable

lUSB A-Male to USB B-Male cable

lPower supply and international power adapter kit

lScrew Feeder power supply cable

lHardware and tool

Caution

The following are not included in the standard delivery:

lHardware required for options.

lAdditional accessoriesor fixturesfor the Robotiq Screwdriver, unlessspecified.

3.2.Required Toolsand Equipment

3.2.1.Robotiq Screwdriver

Installationon CB-SeriesUniversal Robots

Installation on CB-Seriesrobotsrequiresthe FT300-SForce Torque Sensor and itscorresponding hardware and tools.

Please refer to the Quickstart Guide of the FT 300-SForce Torque Sensor provided in the kit.

Otherwise, for further information, you can also refer to the user manual of the FT 300-SForce Torque available at

support.robotiq.com.

l4 mm hex keyto mount the Screwdriver onto itscoupling.

l1/2inch wrenchesto secure the screwdriving bit by tightening the bit holder knob and bit holder chuck.

l2.5mm slotted screwdriver to attach the wiresof the High-flex device cable to the RS-485 to USB signal converter, and then to

the robot controller (not included).

l8-mm (5/16-in)fitting to connect the tubing to the compressed air source (not included).

Robotiq Screwdriving Solution - Instruction Manual

3.2.2.Robotiq Screw Feeder

l4 screwsto mount the Screw Feeder bracketson the work surface (not included).

lMetric or imperial keycorresponding to the fastenersused to mount the Screw Feeder on your work surface (not included).

l2.5mm slotted screwdriver to attach the wiresof the I/O signal and ground cable to the robot controller (not included).

l10mm wrench to fasten the earthing nut on the robot cabinet (not included).

3.3.Environmental and Operating Conditions

3.3.1.Robotiq Screwdriver

CONDITION VALUE

Storage / transit temperature range -20°C to 60°C

Operating ambient temperature range 0°C to 50°C

Humidity 20-80%RH, non-condensing

IPrating IP4X

Other

Dust accumulation mayaffect performance and shorten the time between

maintenance actions.

Free from soot or fluids.

Free from corrosive liquidsor gases.

Free from explosive liquidsor gases.

Refer to IPrating.

Table 3 - 1: Environmental and operating conditionsof the Robotiq Screwdriver

AirSupply

Compressed air must be supplied to the Screwdriver according to the technical specifications. For maintenance and other

purposes, it isrecommended to install a lockout valve before connecting to the product. The air supply tubing must be connected

and disconnected to, or from, the inlet port, onlywhen the line isdepressurized. When the line ispressurized, the safety clip must

be at all timesinstalled on the inlet port. To protect against whipping hazards, the air supplytubing must be securely attached to

the robot arm. An air fuse should also be installed.

Depressurizing the Supply Line

In order to safely depressurize the supply line, the air supplymust first be shut off. Then, if no lockout valve ispresent to

depressurize the line, the Screwdriver can be activated until the pressure isfullyreleased.

Robotiq Screwdriving Solution - Instruction Manual

3.3.2.Robotiq Screw Feeder

CONDITION VALUE

Storage / transit temperature range -20°C to 50°C

Operating ambient temperature range 0°C to 50°C

Humidity 20-80%RH, non-condensing

IPrating IP20

Other

Free from dust, soot or fluids.

Free from corrosive liquidsor gases.

Free from explosive liquidsor gases.

Free from powerful electromagnetic interference.

Refer to IPrating.

Table 3 - 2: Environmental and operating conditionsof the Robotiq Screw Feeder

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ROBOTIQ Screwdriving Solution User manual

Brand: ROBOTIQ

Model: Screwdriving Solution

Category: Robotics

Type: User manual

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ROBOTIQ Screwdriving Solution User manual

ROBOTIQ Screwdriving Solution User manual

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