ROBOTIQ Machine Tending Solution User manual

Robotiq Machine TendingSolution

for Universal Robots

Instruction Manual

ROBOTIQ MACHINE TENDING SOLUTION

robotiq.com | leanrobotics.org

Original Notice

Robotiq Machine Tending Solution - Instruction Manual

Tableof Contents

Revisions 4

1. General Presentation 6

1.1. Machine Tending Components 7

2. Safety 14

2.1. Disclaimer 14

2.2. Warnings, RiskAssessment and Final Application 15

2.3. Intended Use 16

3. Installation 17

3.1. Scope of Delivery 18

3.2. Environmental and Operating Conditions 19

3.3. AirSupply 20

3.4. Receptionof the Solution 21

3.5. Mechanical Installation 21

3.6. Electrical Installation 57

3.7. Software Installation 61

3.8. License Agreement 67

4. Software 70

4.1. Overview 70

4.2. InstallationMenu 71

4.3. Controlling the Robot 77

4.4. Machine Tending Node 80

4.5. Macro List 82

5. Specifications 98

5.1. Technical Dimensions 98

5.2. Mechanical Specifications 112

5.3. Electrical Specifications 121

6. Maintenance 123

6.1. ButtonActivator 124

6.2. Hand-EGripperand Fingertips 124

6.3. AirNozzle 124

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Robotiq Machine Tending Solution - Instruction Manual

6.4. Stacklight Monitoring Sensors 124

6.5. PneumaticPanel 125

6.6. Robotiq Controler 125

6.7. Foot Switch Activator 126

7. Spare Parts, Kitsand Accessories 127

8. Warranty 128

9. Harmonized Standardsand Declarations 130

10. Appendix 131

11. Contact 132

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Robotiq Machine Tending 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.

Revision2022/07/25

lUpdated Robotiq Controller Electrical Setup section

Revision2022/07/22

lInitial release

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Robotiq Machine Tending Solution - Instruction Manual

Copyright

Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof 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 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 maybe 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.

5

1.GeneralPresentation

The terms"Robotiq MachineTending Solution"and "MachineTending Solution''used in thefollowingmanual all refer to the Robotiq

MachineTending Solution and itspertaining components.

The Machine Tending Solution isacompleteautomation tool,made for industrial applications.It iscompatiblewith most brandsof milling

machines,CNCmachinesand lathes.

Itsdesign,flexibility and easeof usemakesit aunique solution to automateseveral machinetending tasks,including,but not limited to:

activatemachinecycles,handle workpieces,raw,blankand finished parts,open and close themachinedoor,blow compressed air,open

and closechucks,viseor other workholdingdevice,and read themachinestatusesin amannerto continuethemanufacturing process.

Fig.1-1:Robotiq MachineTending Solution

The standard Machine TendingSolutioniscomposed of:

l1xButtonActivator

l1xHand-EGripper

l3xFingertip kits

l1xAirNozzle

l3xStacklight Monitoring Sensors

l1xPneumaticPanel

l1x Robotiq Controller

Robotiq Machine Tending Solution - Instruction Manual

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Robotiq Machine Tending Solution - Instruction Manual

Thefollowingcomponentsareoptional:

l1x additional Button Activator

l2xadditional Fingertip Kits

l1xFoot SwitchActivator

l1x additional Hand-EGripper

l2xmounting bracketsand hardwarefor Dual Gripper configuration

l1xCableManagement System

Info

The followingmanual usesthemetricsystem.Unlessspecified,alldimensionsareinmillimeters.

Info

The followingsection presentsthekey featuresof theMachineTendingSolutionand must not be considered asappropriateto

theoperationof theSolution.Eachfeatureisdetailed in theappropriatesectionof themanual.

1.1.MachineTendingComponents

1.1.1.ButtonActivator

The Button Activator isapneumatic actuator whose mechanical motion can activatedifferent typesof control components.It istypically

installed onthecontrol panel "Start Cycle"buttoninorder to start themachine cycles,or onanyotherbutton activatingadevice.

Fig.1-2:ButtonActivator

Info

Even after theinstallation of the Button Activator,themachinecan still beactivated manually by pushing theButtonActivator.

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Robotiq Machine Tending Solution - Instruction Manual

1.1.2.Hand-EGripper

TheHand-EGripper isaparallel gripperwhosetwo fingersareactuated by asinglemotor.It istheend-of-armtool of therobot.It can

execute several machinetending tasks,such ashandling parts,positioningpartsin theworkholding deviceand opening and closingthe

machinedoor.For moreinformation about theHand-EGripper,referto theRobotiqHand-EInstructionManualat robotiq.com/support.

Fig.1-3:Hand-EGripper

1.1.3.Fingertips

Fingertipsaremechanical assembliesinstalled to theHand-E,makingthem theendsof thegripper.They movewith theparallel

mechanism of theHand-E,allowing thefingertipsto handlepartswith astable and strong grip.

The Flat nitrilebutadiene rubber (NBR)Overmolded fingertips(asshown onthe imageabove) arealready installed on theHand-EGripper.

Seebelow for all thefingertip kits(standard and optional) and their typical use.

Item Typical use Standard or

Optional

Flat NBROvermolded

Fingertips

(alreadyinstalled)

Squareand rectangular

parts Standard

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Robotiq Machine Tending Solution - Instruction Manual

Flat NBROvermolded

Fingertips

(on Adjustable Holders)

Largersquareand

rectangular parts Standard

Small Radial Fingertips Longand thincylindrical

parts Standard

4 Stop Fingertips Flat partsand small

cylindrical parts Standard

LargeRadial Fingertips Longand largecylindrical

parts Optional

BlankFingertips To customize Optional

Table 1 - 1: Fingertips

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Robotiq Machine Tending Solution - Instruction Manual

1.1.4.AirNozzle

The Air Nozzleisamechanical assembly designed to conduct compressed air.It isthedrying,blowing and cleaning tool of theSolution.It

isattached to aHand-EGripper or theCompact Dual Hand-EBracket (applicablefor Dual Gripper only)and can bepositioned in various

anglesand locations.

Fig.1-4:AirNozzle

1.1.5.Stacklight MonitoringSensors

The Stacklight Monitoring Sensorsaremechanical and electrical assembliesmeant to read thestatusesof thestacklight (using

photodiode sensors).TheStacklight Monitoringsensorsaredesigned to fit theshapeof astacklight (typically cylindrical),be attached to

it and send theconverted electrical signalsthroughelectrical cables.Thesensorslight sensitivitycan beadjusted mechanically.

Fig.1-5:Stacklight Monitoring Sensors

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Robotiq Machine Tending Solution - Instruction Manual

1.1.6.PneumaticPanel

The PneumaticPanel iscomposed of pneumaticand electrical components.In the standard scopeof delivery,theButtonActivator and

theAir Nozzleareintegrated and controlled viathePneumaticPanel.

Info

An additional solenoid valveand additional fittingsareincluded in thepanel if an additional Button Activator and/or theFoot

SwitchActivatorarepart of thescopeof delivery.

Fig.1-6:Pneumatic Panel - singlesolenoid valve

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Robotiq Machine Tending Solution - Instruction Manual

1.1.7.RobotiqController

The Robotiq Controller isan electrical device used to send and receiveelectrical signals.It isan intermediatecontroller between electrical

componentsand therobot controller.TheStacklight MonitoringSensorsand thesolenoid valvesareconnected to it.

Fig.1-7:Robotiq Controller

1.1.8.Foot SwitchActivator(optional)

The Foot Switch Activator isapneumatic actuatorwhosemechanical motioncan activatedifferent typesof control components.It can

beassembled to many typesof foot switches,withor without an anti-trip safety latch,inorder to activatethetargeted component

(such aschucks).

Fig.1-8:Foot SwitchActivator

Info

Even after theinstallation of the Foot Switch Activator,your foot switchcan still beactivated manually by pushing theFoot

SwitchActivator.

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Robotiq Machine Tending Solution - Instruction Manual

DualHand-EGripper(optional)

The Dual Hand-EGripper isan assemblyof two Hand-EGripperson amounting bracket.TheDual Hand-EGripper allowshandling two

partssimultaneously and thereforesavestime.

Info

With theadditional Hand-EGripper,for eachFingertip Kit beingpart of thescopeof delivery,an additional Fingertip Kit is

included.

Fig.1-9:Dual Hand-EGripper onCompact Dual Hand-EBracket Fig.1-10:Dual Hand-EGripper onDual Bracket

1.1.9.CableManagement SleeveKit (optional)

TheCableManagement SleeveKit isaset of two solid sleeveswithahook-and-loop closuresystem(Velcro®) oneachof them.TheCable

Management SleeveKit isdesigned to hold wiresand cablesall together.It istypically wrapped around therobot armand thecablesthat

run alongit.

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2.Safety

Info

The term "operator" refersto anyone responsible for anyof the following operationson the Robotiq Machine Tending

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 any partsof

the Machine Tending Solution.

2.1.Disclaimer

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

Alwaysfollow local regulations.

Thisdocumentation explainsthe variouscomponentsof the Robotiq Machine Tending Solution and general operationsregarding

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

Robotiq acceptsno liability for damage, injury or anylegal responsibility incurred directlyor 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, discrepanciesmay be observed

between those and the delivered product.

Robotiq Machine Tending Solution - Instruction Manual

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Robotiq Machine Tending Solution - Instruction Manual

2.2.Warnings,RiskAssessment andFinalApplication

Caution

Any use of the Machine Tending Solution in non-compliance of these warningsand/or outside the intended use is

inappropriate and maycause injury or damage.

Caution

It isthe cobot integrator'sduty to ensure that all local safety measuresand regulationsare met.

Warning

lAir supplymust be dry and filtered according to ISO 8573-1class7.4.4.

lAir supplypressure should optimally be set between 6bar and 8bar (87 psi and 116 psi).

lThe tubing should be properlysecured before pressurizing the equipment.

lAlwaysbring the air pressure back to 0 psi before removing any tubing.

lNever operate the equipment with leaking or worn tubing.

lAll componentsneed to be properly secured before operating the robot.

lDo not install or operate any equipment that isdamaged or lacking parts.

lNever supply the equipment with an alternative current source.

lMake sure all cord setsare alwayssecured at both ends, the Hand-Egripper’sor other end effector and the robot’s.

lAlwaysmeet the recommended keying for electrical connections.

lMake sure no one isin the robot’sor Hand-EGripper’s/ end effector vicinity before initializing the robot'sroutine.

lAlwaysmeet the Gripper'spayload specifications.

lKeep body partsand garmentsaway from the equipment while the device ispowered on.

lDo not use the equipment on people or animals.

lAlwayswear all recommended personal protective equipment in accordance with your workplace'ssafetystandards,

including:

lSafety glasses;

lSteel-toe boots

lAt apressure of 6bar and adistance of 1 m, the Air Nozzle emitsnoise at 110 dB. Please enforce the appropriate

workplace, local, state, or federal regulationsin termsof hearing PPE.

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Robotiq Machine Tending Solution - Instruction Manual

The Robotiq Machine Tending Solution ismeant to be used with Universal Robotscollaborative robots. The robot, Hand-E

Gripper(s)or other end effector, Button Activator, Air Nozzle, Stacklight Monitoring Sensors, Pneumatic Panel, Robotiq Controller,

Foot Switch Activator (when applicable)and any other equipment used in the final application must be evaluated viaa thorough

risk assessment.

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

lRisk of pinching between the end effector and the processed objectsor the surrounding environment.

lRisk of pinching between the moving and stationarypartsof the robot.

lRisk of pinching by the machine door when operated by the robot.

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

part handled by the end effector could be inherently dangerousto the operator.

2.3.IntendedUse

The Robotiq Machine Tending Solution isdesigned to load and unload partsto or from a machine. For example, blank partsor

machined partsto or from milling or lathe machines.

Info

The Solution isintended to be used with a UR3e, UR5e, UR10e or UR16e from Universal Robotswith Polyscope software

version 5.12.2or greater asof the release date of thisdocument.

The unit should be used exclusively within the range of itstechnical data. Any other use of the product isdeemed improper and

unintended use. Robotiq will not be liable for anydamagesresulting from any improper or unintended use.

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3.Installation

The followingsubsectionswill guideyouthroughtheinstallation and general setup of yourRobotiq Machine Tending Solution.

Warning

Beforeinstalling:

lRead and understand theSafetysection

lVerify yourpackageaccording to theScopeof delivery and your order.Makesureyouhavetherequired parts,equipment and

tools.

Warning

Wheninstalling:

lMeet therecommended EnvironmentalandOperatingConditions.

lDo not operatetheMachineTending Solution,or even turn onthepowersupply,beforeit isfirmlyanchored or mounted,and

thedanger zoneisclear.

lMakesuretheair supply issecured.

Warning

lFailureto properly secureand install theequipment can result in material damageand seriousbodily injuries.In addition,note

that in situationswheretheinstallationisnot compliant,thewarrantyisvoid.

lMake sure to follow all thesafety rulesand regulationsof your workplacewhileusingthe Machine Tending Solution.Always

wear all recommended personal protectiveequipment in accordancewith yourworkplace'ssafety standards.

lAlwayslift heavy objectswithyourlegs,not yourback.If youcannot lift anobject alone,askforhelp orfindanother method

to moveit.

Robotiq Machine Tending Solution - Instruction Manual

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Robotiq Machine Tending Solution - Instruction Manual

3.1.Scopeof Delivery

The Machine Tending Solution - SingleHand-Eiscomposed of:

l1xButtonActivator

l1xHand-EGripper

l1x Fingertip StartingKit,including:

l1x Flat NBROvermolded Fingertip kit (already installed)

l1x Flat NBROvermolded Fingertip kit (onAdjustableHolders)

l1x Small Radial Fingertip kit

l1x 4StopsFingertip kit

l1xAirNozzle

l3xStacklight Monitoring Sensors

l1xPneumaticPanel

l1x Robotiq Controller

l1x Robotiq Machine Tending Copilot licensedongle

The Machine Tending Solution - Dual Hand-Ehasthe same componentsthan theSingleHand-ESolution but it also includes:

l1x additional Hand-EGripper

l1x Dual Bracket (Vconfiguration)for Dual Gripper configuration

l1x Compact Dual Hand-EBracket (Xconfiguration) for Dual Gripper configuration

Thefollowingcomponentsareoptional:

l1x additional Button Activator

l1xFoot SwitchActivator

lThe followingFingertip kits:

l1x LargeRadial Fingertip kit

l1x BlankFingertip kit

l1xCableManagement SleeveKit

Info

EachHand-Egripper hasitsown Fingertip Startingkit.

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Robotiq Machine Tending Solution - Instruction Manual

3.2.EnvironmentalandOperatingConditions

Condition Robotiq Controller Stacklight

Monitoring Sensors ButtonActivator AirNozzle PneumaticPanel Foot Switch

Activator

Min.storage

temperature -20°C(-4°F) -20°C(-4°F) -20°C (-4°F) -20°C (-4°F) -20°C (-4°F) -20°C (-4°F)

Max.storage

temperature 50°C(122°F) 50°C(122°F) 50°C (122°F) 50°C (122°F) 50°C (122°F) 50°C (122°F)

Minimumoperating

temperature 5°C(41°F) 5°C(41°F) 5°C (41°F) 5°C (41°F) 5°C (41°F) 5°C (41°F)

Max.operating

temperature 50°C(122°F) 50°C(122°F) 50°C (122°F) 50°C (122°F) 50°C (122°F) 50°C (122°F)

Humidity

(non-condensing) 20-80% 20-80% 20-80% 20-80% 20-80% 20-80%

IPrating IP42 IP50 IP42 IP66 IP65 IP52

Environment

lFreefromcorrosiveliquidsor gases

lFreefromexplosiveliquidsorgases

Table 3 - 1: Environmental and operating conditions

Info

For the environmental and operating of the Hand-EGripper, refer to the Robotiq Hand-E Instruction Manual at

robotiq.com/support.

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Robotiq Machine Tending Solution - Instruction Manual

3.3.AirSupply

Caution

lTheincoming air supplymust deliveraminimal flow of 300L/minand apressureof 6 to 8 bar (87to 116psi).

lUsedryand filtered air only.Follow theISO8573-1,class7.4.4 standard.Werecommend usingalocal pressureregulator with a

filter and air dryer.

3.3.1.ConnectingtheCompressedAirSupplyLine

1. Compressed air must be supplied to the Pneumatic Panel according to the PneumaticPanel mechanical specifications.

2. The air supply tubing must be connected and disconnected to, or from, the inlet port, only when the line isdepressurized.

3. To protect against whipping hazard, the air supplytubing must be securely attached to the robot arm. An air fuse can also

be installed.

3.3.2.DepressurizingtheSupplyLine

In order to safely depressurize the supply line, turn off the shut off valve on the Pneumatic Panel. Refer to the PneumaticPanel

section to locate the shut off valve.

3.3.3.Disconnectingtheairtubes

In thissection isindicated,for eachpneumatic component,how and whereto connect theair tubes.To removean air tube,follow the

indicationsbelow (all theair tubefittingsarepush-infittings):

Caution

The compressed air supplyline must be depressured before performing the following steps.

1. Remove the safety clip.

2. Push the blue ring to the bottom and, while the ring isstill to the bottom, pull the air tube.

Fig.3-1:Air tuberemoval from push-in fitting

Caution

Alwaysput back in place the safety clip once the air tube isremoved.

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ROBOTIQ Machine Tending Solution User manual

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