ROBOTIQ FT 300 User manual

Robotiq Copilot InstructionManual

InstructionManual robotiq.com | leanrobotics.org

Original Notice

Revisions 4

1. GeneralPresentation 6

1.1. Copilot controlwithUniversalRobots 7

1.2. Robotiq FT 300Force Torque Sensor 8

1.3. Robotiq Force, Finishing and Machine Tending Copilot 11

2. Safety 12

2.1. Warning 12

2.2. IntendedUse 13

3. Installation 14

3.1. Scope of delivery 14

3.2. Environmentaland Operating Conditionsof the FT Sensor 16

3.3. Mechanicalconnectionsof the FT 300Force Torque Sensor 16

3.4. Software InstallationforUniversalRobots 20

3.5. StatusLED 37

3.6. License Agreement 39

4. Software 43

4.1. Force and torque script functions 43

4.2. ActiveDrive Toolbar 44

4.3. ApplyContact Offset node 47

4.4. Find Contact Offset node 48

4.5. CollisionDetectionnode 54

4.6. Find Surface Node 55

4.7. Finishing ToolControlnode 57

4.8. Force Event node 59

4.9. Force Controlnode 62

4.10. Insertionnodes 70

4.11. Multipoint pathnode 76

4.12. PathRecording node 80

4.13. PathGeneratornode 84

5. VisualDemo Software 93

5.1. Software Package Installation 93

6. SerialCommunication 95

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Copilot -Instruction Manual

6.1. ModbusRTU 95

7. Specifications 100

7.1. TechnicalDimensions 100

7.2. MechanicalSpecifications 102

7.3. SignalSpecifications 105

7.4. ElectricalRatings 106

7.5. Couplings 106

8. Maintenance 108

8.1. Maintenance Intervals 108

9. Spare Parts, Kitsand Accessories 109

10. Troubleshooting 110

10.1. Generaltroubleshooting 110

10.2. Troubleshooting onUniversalRobots 111

10.3. Troubleshooting onotherplatforms 114

11. Warranty 115

11.1. Exclusions 116

11. Appendix 117

11.2. AppendixA-Translationof OriginalECDeclarationof Incorporation 117

11.3. AppendixB- Applied Standards 118

12. Contact 119

3

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 onlineat:support.robotiq.com.

2020-09-21

lUpdateof thesoftwaresection.

2020-04-09

lUpdateof theInstallationsection.

2020-02-28

lUpdateof thePathGeneratornode section

2020-02-03

lAdd of theAppendixsection.

2020-01-09

lInitialrelease:ThisnewInstructionManual includestheRobotiq FT 300ForceTorqueSensorand ForceCopilot Manuals,and details

thevariousRobotiq licensesavailable.

Copilot -Instruction Manual

4

Copyright

Thismanualand theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof other countries,and byinternational

treaties,and thereforemaynot be reproduced in whole or inpart,whether for saleor not,without prior writtenconsent from Robotiq.

Under copyright law,copying includestranslationinto anotherlanguageorformat.

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

Robotiq foritsuse.There maybe somedifferencesbetweenthemanualand the product if theproduct hasbeenmodified afterthe

editiondate.

The informationcontained inthisdocument issubject to changewithout notice.

5

1.General Presentation

This Manual presents all the Robotiq products and their associated license. The license types depend on the Robotiq products or

applicationsand containtheirown nodes.Thelicensetypesare:

lFT Sensor license

lForceCopilot license

lMachineTending Copilot license

lFinishing Copilot license

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

FT 300 Force Torque Sensor unless specified.The Robotiq FT 300 Force Torque Sensor is a robotic peripheral designed for force and

torquedataacquisition.

The terms''Force Copilot'',''Finishing Copilot'' and ''Machine Tending Copilot'' used inthefollowing manual referto a Robotiq Copilot

license unless otherwise specified. Those Robotiq software packages are designed for using the force and torque values read by a

force torque sensor in the framework of robotic applications. The software interface provides force and torque feedback that can be

used forrobot hand guiding,forcecontrol processes,assemblytasks,product testing, and much more.

Info

The following manual usesthemetricsystem.Unlessspecified,alldimensionsareinmillimeters.

The following tablerepresentsthenodesand featuresincluded in each Copilot licensesused intheirrespectiveRobotiq product orkit

on Universal Robots.

Copilot -Instruction Manual

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1.1.Copilot control withUniversal Robots

Nodes/Features

CB-SeriesUniversalRobots e-SeriesUniversalRobots

License Type

FT 300 Force

TorqueSensor

Force

Copilot Machine Tending Copilot Finishing

Copilot

Active Drive X X X X

ApplyContact Offset X X X

Find Contact Offset X X X

CollisionDetection X X X X

Find Surface X X X X

Finishing ToolControl X X

ForceEvent X X X X

ForceControl X X X X

Insertionnode X X X X

MultipointPath X X X X

MultipointPath

(withExternalTCPoption)

X X

Path X X X X

Path(withExternalTCPoption) X X

PathGenerator X X

Zero FT Sensor X X X X

Table1-1:Nodesand Features,based onLicenseType

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Copilot -Instruction Manual

1.2.Robotiq FT300 Force Torque Sensor

Info

The following sectionpresentskeyfeaturesof the Sensor,and must not be considered asbeing related to Sensoroperation.

Everyfeatureisdetailed intheapplicablesectionof themanual.Safetyguidelinesmust beread and understood beforeany

operation isattempted with the Sensor.

The Force TorqueSensorisaroboticperipheral designed for force and torquedata acquisition onCB-Seriesrobot.

Fig.1-1:General presentation of theRobotiq Force TorqueSensorswithmainfeatures.

1.2.1.Mainfeatures

lThe end-of-arm tool contact surface (ingreen)isthe onlypoint of contact allowed between theSensorand thetool to ensurecorrect

forceand torque feedback.

lThe robot contact surface(inblue)istheonlycontact point allowed betweentheSensor and therobot forfastening thesensorto the

robot.Note that theinsidering must not touchtherobot.

Info

Detailsonthebolt patternand indexing pinforthetool side and therobot side canbefound in the Specificationssection.

lThe screwpositioning forthecoupling and therobot mountingsareshowninorange.See the Spare Parts,Kitsand Accessoriessec-

tionforalist of availableCouplings.

8

lM12connector (pigtail ormounted)allowsfor bothpowerand datatransferfor theSensor.

lStatusLED providesvisual informationonthestatusof theSensor,seeStatusLED section

Fig.1-2:FT 300 Force Torque Sensor force and torquediagrams.

The figure above representsthe variousforce and torquesthat theFT 300 Force Torque Sensor canmeasure.Reference frame is

centered on theSensorasshown above and visual inscriptionsarealso represented on it.

lThe Zaxispassesthroughthecenterof thedepression withpositivedirectioninthetool direction.

lThe Xaxis tracesa symmetriclinecentered on the connector;the positive direction pointstheopposite wayawayfrom theconnector.

lThe Yaxisusesthe right hand thumb ruleaccording to X-Z.

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Copilot -Instruction Manual

Fig.1-3:FT 300 Force Torque Sensor options.

The figureabove representsvariousoptionsavailable.Theycanbefound intheSpare Parts,Kitsand Accessoriessection.

lCouplingsare meant to install the FT 300 Force TorqueSensor on variousrobot models,seeavailable models.

lSensorCableisused forpowerand communicationswith theFT 300Force TorqueSensorand isavailableindifferent lengths.

lMechanicalProtectorismeant to protect the cableconnector from collisionsthat canoccurwhen operating therobot (especiallyuse-

ful wheninteach mode).

lToolPlate isnot shown,but might be required when certainend-of-arm toolsare mounted ontheFT 300ForceTorqueSensor.

Info

Pleasereferto theInstallationsectionfor detailsonvariousinstallationoptions.

Tip

It isimportant to understand that theFT 300 Force TorqueSensor canbe used either asa ModbusRTU slave or as a

streaming device.Whenuseasaslaveunit youwill send statusrequests(read function)to get theforce & moment values,

whilewhen indata stream mode theSensor will continuously stream data without responding to a masterrequest.Please

referto the SerialCommunicationsection fordetails.

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1.3.Robotiq Force, Finishingand Machine TendingCopilot

Robotiq Copilot licensesaresoftwareproductsthat unlockforce control featuresand functionalities.

The hardware counterpart of Copilot isthelicensedongle,whichisaUSB storagedevicehosting theproduct license.

The Copilot softwareisused for theimplementation of a force torque sensor operational commandsin auserinterface.

Fig.1-4:Copilot LicenseDongle

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2.Safety

Warning

The operatormust haveread and understood all theinstructionsinthismanual beforehandling theRobotiq Force Torque

Sensorand using oneof the licensesmentioned inthismanual.

Info

The term "operator" refersto anyoneresponsible for anyof the following operations, associated robot or tools,with the

Robotiq productsand licensesmentioned inthisinstructionmanual:

lInstallation

lControl

lMaintenance

lInspection

lDecommissioning

lCalibration

This documentation explains the various components of the Force Torque Sensor, Force Copilot, Machine Tending Copilot and

Finishing Copilot licenses, as well asgeneral operations regarding the whole life-cycle of the product from installation to operation and

decommissioning.

Info

The drawingsand picturesinthisdocumentation arerepresentativeexamplesand differencesmayexist betweenthem and

thedelivered product.

2.1.Warning

Info

Anyuse of theForceTorqueSensorortheForce,MachineTending orFinishing Copilot licensesinnoncomplianceof these

warningsisinappropriateand maycauseinjuryor damage.

Warning

A force torquesensor used inhuman-robot collaborationmust not be considered a completesafetymeasure,additional

dedicated safetydevice(s)must beconsidered.Sensorfailure canoccurand result indangerforworkersor machinery.See

local orinternational safetymeasurefor human-robot collaboration.

Copilot -Instruction Manual

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Warning

lThe Sensorneedsto be properlysecured beforeoperating therobot.

lDo not install oroperatea Sensorthat isdamaged orlacking parts.

lNeversupplytheSensorwithanalternativecurrent source.

lMakesureall cord setsarealwayssecured at bothends,at theSensorand at therobot.

lAlwaysmeet therecommended keying forelectrical connections.

lMakesureno oneisintherobot and/orSensorpath beforeinitializing therobot'sroutine.

lAlwaysmeet the Sensorpayload specifications.

lAll local safetymeasuresand/orlawson robot operation must be applied to theSensor.

lAnyuse of theSensorinnoncompliancewiththese warningsisinappropriateand maycauseinjuryordamage.

2.2.Intended Use

lThe Sensor isdesigned for data acquisition (force and torquesensing)for an end-of-arm tool on a robot.

lThe Sensorisintended forinstallationonarobot or otherautomated machineryorequipment.

lThe softwareisused for theimplementationof a force torque sensor'soperational commandsina userinterface.

Info

Alwayscomplywithlocaland/ornational laws,regulationsand directivesonautomationsafetyand generalmachinesafety.

The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and

unintended use.Robotiq will not be liableforanydamagesresulting from anyimproperorunintended use.

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3.Installation

The following subsectionswill guide you through theinstallation and general setup of yourRobotiq FT 300 Force TorqueSensor and

yourCopilot license.

3.1.Scope of delivery

3.1.1.FT300 ForceTorqueSensor

Standard deliveryforanFT SensorKit (FTS-300-KIT-001)

FT-300BasicSensorUnit (FTS-300-SEN-001)

10m High-FlexCable (straight connector)(CBL-COM-2065-10-HF)

USBto RS485Adapter(ACC-ADT-USB-RS485)

Options

lCouplings

Info

Coupling ismandatoryfor theFT 300.

lAdapterplates

lTool plates

lDifferent cablelengths

Info

The following are not included in deliveryunlessspecified inthepurchase:

lOptionssuch ascouplingsand adaptersfor mounting ondiversindustrial robots.

lHardware required for options; accessoriesor fixtures for theFT Sensor unlessspecified.

lPowersupplyunits,powersupplywiring orfuses.

Pleasereferto theSpare Parts, Kitsand Accessoriessection foralist of availableparts.

Copilot -Instruction Manual

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3.1.2.ForceCopilot

Standard deliveryforaForce CopilotKit (CP-FORCE-ES-UR-KIT)

ForceCopilot License dongle(W-A03)

Teach pendant stylus(X-990032-B)

URWrist axissticker(X-990031-B)

3.1.3.Machine TendingCopilot

Standard deliveryforthe Machine Tending Copilot(CNC-ES-UR-KIT)*

MachineTending Copilot LicenseDongle(W-A14)

Teach pendant stylus(X-990032-B)

URWrist axissticker(X-990031-B)

*For more details about the complete CNC Machine Tending Kit, please refer to its instruction manual.

3.1.4.FinishingCopilot

Standard deliveryforthe Finishing Copilot (CP-FIN-ES-UR-KIT)

Application Copilot LicenseDongle(W-A05)

Teach pendant stylus(X-990032-B)

URWrist axissticker(X-990031-B)

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Copilot -Instruction Manual

3.2.Environmental and OperatingConditionsof the FTSensor

The FT Sensor isdesigned for industrial applications.Always respect the following specified storage,transport and operating

environmental conditions:

Conditions Values

Minimum storage / transit temperature -30°C

Maximum storage / transit temperature 70°C

Minimum operating temperature15°C

Maximum operating temperature140°C

Humidity(non-condensing) 20-80%RH

Maximum vibration (storage / transit) 5G

Maximum vibration (operating) 2G

IPrating IP40

Other lFree from dust, soot or water

lFree from corrosive liquidsor gases

lFree from explosive liquidsor gases

lFreefrom powerful electromagnetic interference

1Referto theSignal Specificationssection for detailson temperature compensation range.

3.3.Mechanical connectionsof the FT300 Force Torque Sensor

You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model.Our couplings are

listed according to ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank

coupling or Robotiq can create a custom version for you.Some couplings may require an additional adapter plate. To create your own

coupling or adapter plate you can refer to the Technical Dimensions section . To see available couplings and adapter plates and for

details,referto the Spare Parts,Kitsand Accessoriessection.

The installation of theFT Sensor isnecessaryon CB-Seriesrobots for force and torquedata acquisition.

16

Info

The FT 300 coupling ismandatory, you cancustomize yours from a blankprovided by Robotiq.

Hereare thestepsto followfor theinstallation of theSensor (seefigurebelow).Note that all screwsmust be locked in placeusing

medium strength threadlocker,such asLoctite248 orasimilarproduct.

1. Align theindexing dowel pinbetweenthecoupling and therobot (usuallypressfitted to therobot).

2. Screwthecoupling to therobot with therobot mounting screws(withlockwashersif provided)and threadlocker.

3. Align theSensor indexing dowel pins(prefixed to theSensor)to thecoupling.

4. ScrewtheSensor to thecoupling using the coupling mounting screws(withlockwashersif provided)and threadlocker.

Fig.3-1:Attaching theFT 300 sensor to a robot arm using themandatorycoupling.

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Copilot -Instruction Manual

3.3.1.PowerSupplySpecifications

The Sensor needs to be supplied by a DC voltage source. This power supply is not included with the Sensor. When installing, use the

24Volt external sourceavailable on theCB-Seriescontroller.

POWERSUPPLYSPECIFICATIONS VALUE

Output voltage 5to 24VDC

Maxpowerconsumption 2 W

Overcurrent 1A Fuse (Phoenix#0916604(UT6-TMCM 1A))

Overvoltageprotection Warning

Maximum output voltage tolerance is10%,exceeding this

limit,26.4 VDCcould damagetheSensor.

Info

Robotiq recommendstheuse of thefollowing powersupply:TDK-LambdaDPPSeries,15W Single Output DIN Rail Mount

PowerSupply,DPP15-24.

3.3.2.Wiring

Power and communications are established with the FT 300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail

cable. The figure below represents the FT 300 Force Torque Sensor receptacle (Sensor side)and connector (cable side)with associated

pinout.TheM12-5pinA-coded connectorisused inaccordancewithIEC61076-2-101.

Warning

Usepropercabling management.Besure to haveenoughforgivenessinthecabling to allowmovement of theGripperalong

all axeswithout pulling out theconnectors.Alwaysprotect thecontrollerside of thecableconnection with astrain relief cable

clamp.

18

Fig.3-2:Pinout of theRobotiq Force Torque Sensor FT 300 and color code for the respective cable type.

Info

Powerpins2 & 3areconnected to thespecified powersupply.

Info

RS-485signal pins1,4& 5areconnected directly,to aRS-485/ USBconverterorto aRS-485/ RS-232 converter.

Wiringwith USBto RS485 Converter

Whenusing aRS485to USBconverter,the wiring must respect thefigurebelowand subsequent directions.GND / 0Viswired to Sensor

pin#1asstated intheInstallationsection.

The converterwill provideyouwithastandard USB2.0 maleA connector.

Fig.3-3:Wiring diagram for theRS485to USBconverter

Warning

Powerisnot delivered via theUSB,do not plug 24Vinto theUSB.

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Copilot -Instruction Manual

3.4.Software InstallationforUniversal Robots

The table belowshowswhich Robotiq softwareto usewithyourversion of Universal Robots’ controller.If youareusing a CB3 orCB3.1

controller,it isrecommended to usetheCopilot URCapsPackage.

Robotiq Software

UniversalRobots' controllerversion

CB1 CB2 CB3 CB3.1 e-Series

LegacyDriverPackage(DFU-

1.1.15) Incompatible Compatible Compatible Compatible Incompatible

ActiveDrive Toolbar(ADU-

1.0.1) Incompatible Compatible Compatible Compatible Incompatible

FT 300 Force Torque Sensor

URCap Packageup to 1.1.1

(includesActiveDrivetoolbar) Incompatible Incompatible Compatible Compatible Incompatible

CopilotURCap Package

(includesActiveDrivetoolbar) Incompatible Incompatible Incompatible Compatible Compatible

Referto the appropriatesectiondepending on yourcontrollerversion:

lThe Installing the URCap Package sectioncoverstheinstallationof theCopilot URCap Package.

lThe URPackagewithout URCaps section goesthrough the softwareinstallation procedureswhennot using URCaps.

Prior to any software installation, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-

USB)asshowninthefigurebelow.Also connect thered (24V)and black(0V)wiresin thecontrolleraccording to thefigure below.

Fig.3-4:FT 300 Force Torque Sensor wiring to Universal Robotscontroller.

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ROBOTIQ FT 300 User manual

ROBOTIQ FT 300 User manual

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