OnRobot HEX-E QC - User Manual

USER MANUAL
FOR UR ROBOTS
v1.2.1

Summary

1. Introduction

1.1. Important Safety Notice

Crucial safety guidelines and warnings for all users to read and understand before operation.

2. Safety

2.1. Intended Use

Specifies the intended applications and permissible uses for OnRobot tools.

2.2. General Safety Instructions

Outlines general safety instructions, national regulations, and precautions.

2.3. Risk Assessment

Details the integrator's responsibility for performing a comprehensive risk assessment.

2.5. PLd CAT3 Safety Function

Describes the safety-rated function of two buttons for controlling robot arm motion.

2.6. Screwdriver Safety Features

Highlights the specific safety features implemented in the Screwdriver product.

4. HW Installation

4.2. Mounting

Details the procedures for mounting various components and tools.

4.2.1. Optional - Angle Bracket

4.2.2. Quick Changer - Robot Side

Covers the installation of the Quick Changer on the robot side of the connection.

4.2.3. Dual Quick Changer

Details the mounting procedure for the Dual Quick Changer system.

4.2.4. HEX-E;H QC

Provides instructions for installing the HEX-E/H QC sensor unit.

4.2.5. Tools

Lists and describes the mounting procedures for various OnRobot tools.

4.2.5.1. 3 FG15

Details the mounting steps for the 3FG15 gripper.

4.2.5.2. RG2

Explains the mounting procedure for the RG2 gripper.

4.2.5.3. RG2-FT

Covers the mounting steps for the RG2-FT gripper.

4.2.5.4. RG6

Details the mounting procedure for the RG6 gripper.

4.2.5.5. Screwdriver

Explains the mounting steps for the Screwdriver tool.

4.2.5.6. SG

Covers the mounting procedure for the SG gripper.

4.2.5.7. VG10

Details the mounting steps for the VG10 gripper.

4.2.5.8. VGC10

Explains the mounting procedure for the VGC10 gripper.

4.2.5.9. Quick Changer - Tool Side

Covers the mounting of the Quick Changer on the tool side.

4.3. Wiring

Explains the wiring procedures for different operation modes.

4.3.1. Tool Data Cable

Details the connection of the tool data cable.

4.3.1.1. 3 FG15, RG2, RG6, Screwdriver, SG, VG10, VGC10

Wiring instructions for specific tools using the data cable.

4.3.1.2. HEX-E;H QC

Covers data cable wiring for the HEX-E/H QC.

4.3.1.3. RG2-FT

Details data cable wiring for the RG2-FT tool.

4.3.2. Ethernet Cable

Explains the connection procedure for the Ethernet cable.

4.3.3. Power Supply

Covers the connection and setup of the power supply.

5. SW Installation

5.1. Install URCap

Step-by-step guide for installing the URCap software on UR controllers.

5.2. Uninstall Software

Instructions for removing the OnRobot URCap software from the controller.

5.3. URCap Setup

Guides users through the configuration of the URCap software for various tools.

5.3.1. 3 FG15

Details the URCap setup specific to the 3FG15 gripper.

5.3.2. HEX

Covers the URCap setup for the HEX product.

5.3.3. RG2-FT

Explains the URCap setup for the RG2-FT gripper.

5.3.4. RG2;6

Details the URCap setup for the RG2/6 grippers.

5.3.5. Screwdriver

Covers the URCap setup for the Screwdriver tool.

5.3.6. SG

Explains the URCap setup for the SG gripper.

5.3.7. VG10

Details the URCap setup for the VG10 gripper.

5.3.8. VGC10

Covers the URCap setup for the VGC10 gripper.

6. Operation

6.1. URCap Commands

Explains how to use URCap commands for programming applications with OnRobot tools.

6.1.1. 3 FG15

Details the URCap commands for the 3FG15 gripper's grip and release functions.

6.1.2. HEX-E;H QC

Explains the F/T Control and related commands for the HEX-E/H QC.

6.1.3. RG2-FT

Covers the RG Grip command and its parameters for the RG2-FT gripper.

6.1.4. RG2;6

Details the RG Grip command and its functions for RG2 and RG6 grippers.

6.1.5. Screwdriver

Explains the operation of the Screwdriver tool, including pick, tighten, and loosen commands.

6.1.5.1. Pick Screw

Describes the Pick Screw command for the Screwdriver.

6.1.5.2. Tighten Screw

Details the Tighten Screw command for the Screwdriver.

6.1.5.3. Loosen Screw

Explains the Loosen Screw command for the Screwdriver.

6.1.5.4. Move Shank

6.1.5.5. TCP

6.1.6. SG

Details the SG Grip and Release commands.

6.1.7. VG10;VGC10

Explains the VG Grip and Release commands for VG10/VGC10.

6.2. URCap Toolbar

Describes how to access and use the URCap toolbar for operating tools.

6.2.1. 3 FG15

6.2.2. HEX-E;H QC

6.2.3. RG2-FT

6.2.4. RG2; RG6

6.2.5. Screwdriver

6.2.6. SG

6.2.7. VG10; VGC10

6.3. URScript Commands

Introduces URScript commands for OnRobot tools.

6.3.1. 3 FG15

6.3.2. RG2-FT

6.3.3. RG2;RG6

6.3.4. Screwdriver

6.3.5. SG

6.3.6. VG10;VGC10

6.4. TCP Configuration

Explains how to configure the Tool Center Point (TCP).

6.6. Feedback Variables

6.6.1. 3 FG15

6.6.2. HEX-E;H QC

6.6.3. RG2-FT

6.6.4. RG2; RG6

6.6.5. Screwdriver

6.6.6. SG

6.6.7. VG10; VGC10

7. Additional Software Options

7.1. Compute Box

7.1.1. Interfaces

7.1.2. Web Client

7.1.3. Web Client: Devices Menu

7.1.3.1. 3 FG15

7.1.3.2. HEX-E;H QC

7.1.3.3. RG2;6

7.1.3.4. RG2-FT

7.1.3.5. Screwdriver

7.1.3.6. SG

7.1.3.7. VG10; VGC10

7.1.4. Web Client: Configuration Menu

7.1.6. Web Client: Update Menu

7.1.7. Web Client: Account Settings

8. Hardware Specification

8.1. Technical Sheets

8.1.1. 3 FG15

8.1.2. HEX-E QC

8.1.3. HEX-H QC

8.1.4. Quick Changers

8.1.5. RG2

8.1.6. RG2-FT

8.1.7. RG6

8.1.8. Screwdriver

8.1.9. SG

8.1.10. VG10

8.1.11. VGC10

8.1.12. Compute Box

8.1.12.1. With 1.5 A Wall Adapter (36 W)

8.1.12.2. With 5 A Wall Adapter (120 W)

8.1.12.3. Compute Box I;O interface

9. Maintenance

9.1. 3 FG15

9.2. RG2;6

9.3. RG2-FT

9.4. Screwdriver

9.5. SG

9.6. VG10;VGC10

10. Troubleshooting

OnRobot HEX-E QC Specifications

General

Brand	OnRobot
Model	HEX-E QC
Category	Robotics
Language	English