e.do Gripper Safety requirements, technical features and assembly and integration instructions Requirements, technical features and instructions for safe installation and use of the e.do Gripper. CR00758190-en_00/2018.05
The contents of this handbook are the property of COMAU S.p.A. Any reproduction, even partial, is prohibited without prior written authorization from COMAU S.p.A. COMAU reserves the right to modify, without notice, the features of the product presented in this handbook. Copyright 2008-2018 by COMAU - Published on 05/2018
SUMMARY SUMMARY 1. SAFETY REQUIREMENTS FOR E.DO GRIPPER USE..........................4 Certification................................................................. 5 Before using................................................................. 6 Packaging removal and preliminary checks....................................... 6 Preliminary requirements and instructions for installation............................ 7 During the use............................................................... 8 Cleaning.................................................................... 9 Decommissioning and disposal.................................................. 9 2. E.DO GRIPPER TECHNICAL FEATURES...................................10 General technical features..................................................... 10 e.do Gripper diagrams and drawings............................................ 11 e.do Gripper mechanical drawings (dimensions, workspaces)....................... 11 Flange hole diagram for e.do Gripper fixing..................................... 13 Electrical diagram of e.do Gripper connection................................... 14 3. E.DO GRIPPER INSTALLATION..........................................15 Equipment and material required................................................ 15 e.do Gripper installation procedure............................................. 16 Check of the correct functioning after the installation................................ 23 Integration of perimeter protective guards for the use of the e.do Gripper for handling purpose. 24 4. E.DO GRIPPER INTEGRATION (SOFTWARE ASPECTS)......................26 3
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 1. SAFETY REQUIREMENTS FOR E.DO GRIPPER USE In this chapter are summarized minimum safety requirements to be followed during the e.do Gripper use: Certification Before using During the use Cleaning Decommissioning and disposal 4
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 1.1 Certification When the e.do Gripper is properly installed and integrated on the e.do Robot, it complies with the requirements of the following Community Directives: DIRECTIVE 2006/42/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast) Fig. 1.1 - EC Certification of the e.do Robot and e.do Gripper unit 5
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 1.2 Before using Minimum safety requirements to be followed during the Robot unpacking and installation operations are given below: Packaging removal and preliminary checks Preliminary requirements and instructions for installation 1.2.1 Packaging removal and preliminary checks The e.do Gripper packaging contains: q.ty 1 e.do Gripper q.ty 1 CAN network connection cable q.ty 1 e.do Gripper power supply cable q.ty 2 socket hex head screws M3x8 q.ty 2 socket hex head screws M3x12 q.ty 4 hex nuts M3 (to be removed when e.do Gripper is assembled) Fig. 1.2 - Content within the e.do Gripper packaging View Description A B C D A: e.do Gripper B: Socket hex head screws M3x8 C: Socket hex head screws M3x12; D: hex nuts M3 E: CAN network connection cable F: e.do Gripper power supply cable E F 6
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE Remove the e.do Gripper from the related packaging, proceeding as indicated below: The e.do Gripper is packed in a normal cardboard box with pressure lock; no special tools are required to remove the packaging; remove the packaging paying particular attention not to damage the contents; make sure that all the components indicated in the previous Fig. 1.2 are present inside the package; after removing the packaging, make sure the e.do Gripper does not show signs of damage during transport; if it does, do not install e.do Gripper and contact the Comau Service Centre (see the following address: edo.cloud/support-and-contacts/); the packaging materials must be kept out of reach of children, as they are potential sources of danger. 1.2.2 Preliminary requirements and instructions for installation Before proceeding with the installation of e.do Gripper: check that the e.do Robot is powered off, that the related main switch is open (0 - OFF position) and that the power supply cable is disconnected; Do not handle the e.do Gripper and perform the installation working with wet or damp hands or feet. The e.do Gripper is designed and built to be used exclusively in indoor domestic / scholastic environments and protected from atmospheric agents. It is not intended for use in industrial or in hazardous environments (e.g. environments with potential risks of explosion). The e.do Gripper can be used for the execution of programs including small operations for handling small and non-dangerous objects, compatibly with the General technical features of the e.do Gripper and of the e.do Robot. Depending on the nature and features of the handled items (configuration, weight, etc.), after the evaluation performed by the User there can be needed the installation of perimeter protective guards, that prevent the reaching of the Robot by the surrounding people, and an additional emergency push-button outside the guards themselves (see par. 3.4); carry out the e.do Gripper installation as indicated in the e.do Gripper installation procedure. 7
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 1.3 During the use Minimum safety requirements to be followed during the Robot use are given below: the e.do Gripper can be used by children (age > 14 years old) and by persons with reduced physical, sensory or mental capabilities, or with insufficient experience and knowledge, provided that they are under the supervision of an adequately trained and informed adult, responsible for the safe use of the Robot itself. Children must not play with the equipment, they must not perform cleaning and routine maintenance operations. during motion, do not insert body parts (fingers, hands, arms, etc.) between the gripper fingers or gears of the e.do Gripper in order to avoid possible pinching; handle exclusively objects of conformation such as to guarantee a good grip on the part of e.do Gripper; Do not use the e.do Gripper working with wet or damp hands or feet. during the use, provide a sufficiently large free space around the Robot equipped with the e.do Gripper (greater than the operating range of the Robot with e.do Gripper, see par. 2.2 e.do Gripper diagrams and drawings on page 11 and Fig. 1.7 - Robot workspace in 6 axes configuration on page 16 and Fig. 1.8 - Robot workspace in 4 axes configuration on page 17 on the Robot e.do - Safety requirements and technical specifications handbook) in order to avoid any Robot impacts that could cause pinching or crushing; do not suspend or fix objects (or similar) to the Robot structure or to the e.do Gripper during the operation; in case of Integration of perimeter protective guards for the use of the e.do Gripper for handling purpose, periodically check the correct functioning of the guard interlocking devices, connected to the Fence input and of an additional emergency button connected to the E-Stop input on the apposite J8 connector on Robot base; activate the devices and verify the stop of the Robot. In the event of fault or malfunctions, do not independently carry out dismantling or repair attempts on the Robot or on the e.do Gripper; contact the Comau Service Centre, as indicated in the Robot e.do - Certifications, Service, Warranty supplied with the Robot itself. See also the following address: edo.cloud/support-and-contacts/. 8
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 1.4 Cleaning Minimum safety requirements to be followed during the Robot and e.do Gripper cleaning operations are given below: Before carrying out any cleaning operation, make sure that the Robot is powered off and remove the plug from the power socket. do not pull the power cord to disconnect the Robot. Always pull from the plug; do not spray water or use steam to clean the Robot and/or e.do Gripper; clean the Robot and e.do Gripper with a damp and soft cloth. Use only neutral detergents. Do not use abrasive products, abrasive sponges, solvents or metal objects. 1.5 Decommissioning and disposal The disposal operations must be carried out in compliance with the law in force in the country where the machine is installed: dispose of the batteries, electronic boards and various components in an environmentally correct way and in accordance with the regulations in force transferring them to the appropriate collection facilities. Minimum safety requirements to be followed during the Robot and e.do Gripper disassembly and disposal operations are given below: disconnect the Robot from the power supply mains; remove the e.do Gripper from the Robot wrist; disassemble the Robot following the assembly instructions in reverse order (when present); perform the disposal of the Robot, e.do Gripper and various components in accordance with the law in force in the country where the Robot is installed; inside the Robot and e.do Gripper there are present batteries and electronic boards that must be disposed of according to the law in force in the country where the Robot is installed, transferring them to the appropriate collection facilities. 9
E.DO GRIPPER TECHNICAL FEATURES 2. E.DO GRIPPER TECHNICAL FEATURES General technical features e.do Gripper diagrams and drawings 2.1 General technical features Tab. 2.1 - e.do Gripper technical features Type Weight Stroke Description Payload* Clamping force On-board sensors / Position identification system Feature 2-finger (fingertips) Gripper 180 g Without neoprene fingertip cover 81 mm With neoprene fingertip cover 77 mm 400 g 3.5 N Encoder * Payload calculated considering the friction factor of the neoprene-covered fingers grabbing a steel object. For information on the maximum load supported by the Robot, refer to par. Wrist loads, in the Robot e.do - Safety requirements and technical specifications handbook. 10
E.DO GRIPPER TECHNICAL FEATURES 2.2 e.do Gripper diagrams and drawings In the following chapter are described: e.do Gripper mechanical drawings (dimensions, workspaces) Flange hole diagram for e.do Gripper fixing 2.2.1 e.do Gripper mechanical drawings (dimensions, workspaces) The following drawings show the dimensions of the e.do Gripper (dimensions in mm): Dimensions of open e.do Gripper Dimensions of closed e.do Gripper Fig. 2.1 - Dimensions of open e.do Gripper 11
Comau Robotics Product Instruction E.DO GRIPPER TECHNICAL FEATURES Fig. 2.2 - Dimensions of closed e.do Gripper 12
E.DO GRIPPER TECHNICAL FEATURES 2.2.2 Flange hole diagram for e.do Gripper fixing The following drawing shows the diagram of holes present on the e.do Gripper flange to be used for the e.do Gripper fixing to the e.do Robot (dimensions in mm). Fig. 2.3 - Flange hole diagram for e.do Gripper 13
E.DO GRIPPER TECHNICAL FEATURES 2.2.3 Electrical diagram of e.do Gripper connection In the following diagram there are given the electrical connections necessary to be performed on the e.do Gripper electronic board (PCB), in order to allow its correct operation. Fig. 2.4 - Electrical diagram of e.do Gripper connection View Description A: BUS OUT connector B: BUS IN connectors C: SUPPLY connector D: SERVO connector E: Connector not used F: Connections coming from the electronic board (PCB) of the last Robot joint R: Terminating resistor in the CAN network A B C D E R F 14
E.DO GRIPPER INSTALLATION 3. E.DO GRIPPER INSTALLATION Equipment and material required e.do Gripper installation procedure Check of the correct functioning after the installation Integration of perimeter protective guards for the use of the e.do Gripper for handling purpose 3.1 Equipment and material required For e.do Gripper installation the following equipment is necessary: e.do Gripper q.ty 2 socket hex head screws M3x12 (included with e.do Gripper) q.ty 2 socket hex head screws M3x8 (included with e.do Gripper) q.ty 1 CAN network connection cable (included with e.do Gripper) q.ty e.do Gripper power supply cable (included with e.do Gripper) 2.5 mm Allen wrench 15
E.DO GRIPPER INSTALLATION 3.2 e.do Gripper installation procedure The installation procedure of the e.do Gripper on the e.do Robot is given below. Operating procedure a. Through manual commands from the app, move the e.do Robot in calibration position (vertical position) as in the figure. Representative figure illustrating e.do Robot in calibration position. At the end of the movement, shut down the e.do, position the main switch in the open position (0 - OFF) then remove the plug from the power supply socket. b. Unscrew the two fixing socket hex head screws A M3x8 of the plastic protective cover B of the last Robot joint. c. Remove the plastic protective cover B of the last Robot joint. B A 16
E.DO GRIPPER INSTALLATION Operating procedure (Continued) d. Release and remove the plastic protective cover of the e.do Gripper electronic board (PCB). e. Disconnect the CAN network terminating resistor from the electronic board (PCB) of the last Robot joint. C f. Insert the end with 2 connectors D (CAN SUPP and CAN SIGN) of the CAN network connection cable and power supply cable E (included with e.do Gripper) inside the hole of the last Robot joint, as indicated by the arrow in the figure. D E g. Remove the two connectors from the hole of the last Robot joint. 17
E.DO GRIPPER INSTALLATION Operating procedure (Continued) h. Connect the other end of the CAN network connection cable and power supply cable E to the connector F of the last Robot joint electronic board (PCB) (the same connector from which at step e. terminating resistor was removed). F E i. Insert the end with 2 connectors D (CAN SUPP and CAN SIGN) of the CAN network connection cable in the hole G present at the e.do Gripper base. G D 18
E.DO GRIPPER INSTALLATION Operating procedure (Continued) j. Remove the hex nuts H screwed on the four fixing screws J of the e.do Gripper. J k. By means of a 2.5 mm Allen wrench, fix the e.do Gripper to the last Robot joint flange using: q.ty 2 screws K M3x12 (electronic board PCB side) q.ty 2 screws L M3x8 (side opposite to the electronic board PCB) l. To avoid possible damage do not overtighten the screws. H J H K L 19
E.DO GRIPPER INSTALLATION Operating procedure (Continued) m. Connect the 2 connectors M (CAN SUPP) and N (CAN SIGN) of the CAN network connection cable and power supply cable (included with e.do Gripper), coming from the last Robot joint, to the related connectors present on the e.do Gripper electronic board (PCB), as shown in the figure. A BUS B IN M N n. Connect the 2 connectors P (2 PIN) and Q (4 PIN) of the power supply cable and resistance R respectively to the connectors S and T of the e.do Gripper electronic board (PCB), as shown in the figure. R Q P BUS A OUT SUPPLY C T S 20
E.DO GRIPPER INSTALLATION Operating procedure (Continued) o. Check the correct connection of all connectors on the e.do Gripper electronic board (PCB), as shown in the figure. p. Reposition the plastic protective cover of the e.do Gripper electronic board (PCB) (no tools assembly). During the repositioning of the plastic protective cover, pay particular attention not to pinch the cables. Also verify that all cables are properly covered by the plastic protective cover. 21
E.DO GRIPPER INSTALLATION Operating procedure (Continued) q. Reposition the plastic protective cover U on the last Robot joint. r. By means of a 2.5 mm Allen wrench, fix again the plastic protective cover U of the last Robot joint by using the two socket hex head screws V M3x8. U V After the mechanical installation of the e.do Gripper, it is necessary to perform some identification and setup operations via dedicated app. For further information, consult the related user handbook of the app e.do (see https://edo.cloud/documents/). 22
E.DO GRIPPER INSTALLATION 3.3 Check of the correct functioning after the installation Before proceeding with the use of e.do equipped with the e.do Gripper, it is necessary to check the correct functioning: connect e.do to the power supply mains and perform the power-up; access the related app and perform the connection via Wi-Fi network; through appropriate pop-up windows: select the Robot configuration (e.do 4 axis or e.do 6 axis); confirm the presence of e.do Gripper; perform the calibration of the joints following the steps proposed by the app; manually perform some opening / closing cycles of the e.do Gripper in order to check its proper functioning. 23
E.DO GRIPPER INSTALLATION 3.4 Integration of perimeter protective guards for the use of the e.do Gripper for handling purpose The e.do Gripper can be used for the execution of programs including small operations for handling small and non-dangerous objects, compatibly with the General technical features of the e.do Gripper and of the e.do Robot. Depending on the nature and features of the handled items (configuration, weight, etc.), after the evaluation performed by the User, the installation of perimeter protective guards A, that prevent the reaching of the Robot by the surrounding people, can be required (display case, to be made preferably with transparent panels, e.g. polycarbonate, in order to allow correct observation of the cycle). These protective guards must be controlled through safety limit switch B to be connected to the J8 connector D on Robot base, so as to stop the motion of the Robot if the protective guards are removed or delocalized. In case of perimeter protective guards installation, it is also necessary to connect, through the J8 connector D on Robot base, an additional emergency push-button C to be positioned outside the perimeter protective guards, in such a position as to be easily reachable. The emergency stop bush-button must be of red mushroom type with yellow background, with mechanical latching and equipped with 2 normally closed contacts (with forced opening) in accordance with the requirements of the standard UNI EN ISO 13850. The following is an example of the dimensioning, installation and connection of perimeter protective guards for the execution of potentially dangerous handling operations with e.do Gripper. For a proper dimensioning of the perimeter protective guards, consult also the e.do Gripper diagrams and drawings (see par. 2.2 on page 11) and the Fig. 1.7 - Robot workspace in 6 axes configuration on page 16, Fig. 1.8 - Robot workspace in 4 axes configuration on page 17 on the Robot e.do - Safety requirements and technical specifications handbook. For details regarding the pinout of the J8 connector on Robot base and related connection diagrams, consult the Robot e.do - Safety requirements and technical specifications handbook. 24
Comau Robotics Product Instruction E.DO GRIPPER INSTALLATION Fig. 3.1 - Example of perimeter protective guards installation 900 900 A 1220 B C D Minimum dimensions of perimeter protective guards; dimensions in mm A: Perimeter protective guards (to be carried out by the User) B: Safety limit switch to control the correct positioning of the guard (to be installed by the User) C: Additional emergency push-button (to be installed by the User) D: The J8 connector on Robot base on which to connect the safety limit switch to control the guard positioning ( Fence input) and additional emergency push-button ( E-Stop input). 25
E.DO GRIPPER INTEGRATION (SOFTWARE ASPECTS) 4. E.DO GRIPPER INTEGRATION (SOFTWARE ASPECTS) For the correct use of the e.do Gripper, after the mechanical installation it is necessary to perform some identification and setup operations via dedicated app. For further information, consult the related user handbook of the app e.do (see https://edo.cloud/documents/). 26
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