USER MANUAL

RG2
Industrial Robot Gripper

For the Universal Robots

Document version 1.9.2
OnRobot URCap version 1.9.0.
January 2019
Content

1 Preface ............................................................................................................................................ 5
1.1 Target Audience ...................................................................................................................... 5
1.2 Intended Use ........................................................................................................................... 5
1.3 Important Safety Notice.......................................................................................................... 5
1.4 Warning Symbols .................................................................................................................... 6
1.5 Typographic Conventions ....................................................................................................... 7
2 Getting Started ............................................................................................................................... 8
2.1 Scope of Delivery .................................................................................................................... 8
2.2 Mounting................................................................................................................................. 8
2.3 Mechanical Dimensions .......................................................................................................... 9
2.4 Load Capacity ....................................................................................................................... 10
2.5 Fingertips ............................................................................................................................. 11
2.6 Gripper Work Range ............................................................................................................ 12
2.6.1 Finger Thickness ............................................................................................................... 12
2.6.2 Gripping Speed ............................................................................................................. 13
2.7 Cable Connections ............................................................................................................... 13
2.7.1 Tool Connections ......................................................................................................... 13
2.7.2 Power Supply ............................................................................................................... 14
2.8 UR Compatibility .................................................................................................................. 14
2.9 URCap Plugin Installation ..................................................................................................... 15
2.10 URCap Plugin Setup.............................................................................................................. 15
2.10.1 Mounting Setup ........................................................................................................... 15
2.10.2 Settings......................................................................................................................... 19
2.10.3 About Screen ................................................................................................................ 20
3 Using the URCap Plugin ............................................................................................................... 22
3.1 OnRobot Feedback Variables ............................................................................................... 22
3.1.1 Single RG2 .................................................................................................................... 22
3.1.2 Dual RG2....................................................................................................................... 22
3.2 OnRobot URCap Commands ................................................................................................ 22
3.3 RG2 Command ..................................................................................................................... 22
3.3.1 Width and Force........................................................................................................... 23
3.3.2 Payload ......................................................................................................................... 24
3.3.3 Depth Compensation ................................................................................................... 25
3.3.4 Feedback and Teaching Buttons .................................................................................. 25

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 3.3.5 Dual Gripper ................................................................................................................. 27
3.4 RG2 TCP command............................................................................................................... 28
3.5 Script Function ..................................................................................................................... 28
4 List of Acronyms .......................................................................................................................... 29
5 Appendix ...................................................................................................................................... 30
5.1 Technical Specifications ....................................................................................................... 30
5.2 Software Uninstallation ....................................................................................................... 30
5.3 Declarations and Certificates ............................................................................................... 31
5.3.1 CE/EU Declaration of Incorporation (original) ............................................................. 31
5.4 Editions................................................................................................................................. 32

OnRobot A/S © 2015-2019 www.onrobot.com

 Preface

The information contained herein is property of OnRobot A/S and shall not be
reproduced in whole or in part without prior written approval of OnRobot A/S. The
information herein is subject to change without notice and should not be construed
as a commitment by OnRobot A/S. This manual is periodically reviewed and revised.

OnRobot A/S assumes no responsibility for any errors or omissions in this

document.

Copyright © 2015–2019 by OnRobot A/S.

The OnRobot A/S logo is trademark of OnRobot A/S.

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 Preface

1 Preface

1.1 Target Audience

This document is intended for integrators who design and install complete robot
applications. Personnel working with the gripper are expected to have the following
expertise:

Basic knowledge of mechanical systems

Basic knowledge of electronic and electrical systems
Basic knowledge of the robot system

1.2 Intended Use

The gripper is designed for grabbing objects, installed on the end effector of a robot,
typically used in pick and place applications. OnRobot is not liable for any damage or
injury resulting from misuse.

Misuse includes, but is not limited to:

• Use in potentially explosive environments

• Use in medical and life critical applications
• Use before performing a risk assessment

1.3 Important Safety Notice

The gripper is partly completed machinery and a risk assessment is required for each
application the gripper is a part of. It is important that all safety instructions herein
are followed. The safety instructions are limited to the gripper only and do not cover
the safety precautions of a complete application.

Below is listed some potential dangerous situations, that the integrator as a

minimum must take to consideration. Please note that there can be other dangerous
situations depending on the specific situation.

• Entrapment of limbs between the Grippers finger arms

• Penetration of skin by sharp edges and sharp points on the grabbed object
• Consequences due to incorrect mounting of the Gripper
• Objects falling out of the Gripper, e.g. due to incorrect gripping force or to
high acceleration from a robot
The complete application must be designed and installed, in accordance with the
safety requirements specified in the standards and regulations of the country where
the application is installed.

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 Preface

1.4 Warning Symbols

DANGER:
This indicates a very dangerous situation which, if not avoided, could
result in injury or death.

WARNING:
This indicates a potentially hazardous electrical situation which, if not
avoided, could result in injury or damage to the equipment.

WARNING:
This indicates a potentially hazardous situation which, if not avoided,
could result in injury or major damage to the equipment.

CAUTION:
This indicates a situation which, if not avoided, could result in damage
to the equipment.

NOTE:
This indicates additional information such as tips or recommendations.

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 Preface

1.5 Typographic Conventions

The following typographic conventions are used in this document.

Table 1: Conventions
Courier Text File paths and file names, code, user input and computer
output.

Italicized text Citations and marking image callouts in text.

Bold text UI elements, including text appearing on buttons and

menu options.

Bold, blue text External links, or internal cross-references.

<angle brackets> Variable names that must be substituted by real values

or strings.

1. Numbered lists Steps of a procedure.

A. Alphabetical lists Image callout descriptions.

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 Getting Started

2 Getting Started

2.1 Scope of Delivery

In the Universal Robots OnRobot RG2 Gripper Kit everything required to connect the
OnRobot gripper to your UR robot is provided.

• OnRobot RG2 Industrial Robot Gripper

• OnRobot RG2 Single Bracket
• OnRobot RG2 Fingertips
• OnRobot USB drive
• 4 mm Hex Allen key
• 2.5 mm Hex Allen key
• 2 mm Hex Allen key
• plastic bag, containing:
o M6x8 screws (4 pcs)
o M4x8 screws (6 pcs)

2.2 Mounting

To mount the gripper, follow this process:

1. Fasten the Gripper bracket to the Robot by four M6x8 Screws. Use 7 Nm
tightening torque. Use the 4 mm Hex Allen key.
2. Fasten the Gripper to the adapter by six M4x8 screws. Use 2 Nm tightening
torque. Use the 2.5 mm Hex Allen key.
Use only the screws provided with the gripper. Longer screws could damage the
gripper or the robot.

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 Getting Started

The design of the standard Gripper bracket means that the angle of
the Gripper can be adjusted from 0° to 180° in steps of 30°.

2.3 Mechanical Dimensions

The dimensions are in millimeters (the cable may differ from above drawing).

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 Getting Started

2.4 Load Capacity

Be aware that when grapping an object, some of the parameters below are not
directly aplicative, but can be used to calculate the load on the Gripper.

My1
Fy

Mx1
Mz1

Mz Mx

My

Parameter Static Unit

Fy 362 [N]
Mx 7,55 [Nm]
My 4,1 [Nm]
Mz 6,92 [Nm]
Mx1 22 [Nm]
My1 11 [Nm]
Mz1 22 [Nm]

The parameters in the fingertips are calculated at the shown position and will change
in relation to the finger positions.

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 Getting Started

2.5 Fingertips

The standard fingertips can be used for many different workpieces. If custom
fingertips are required, they can be made to fit the Gripper fingers.

Dimensions of the Grippers aluminum fingers, in millimeters.

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 Getting Started

2.6 Gripper Work Range

The work range is measured between the aluminum fingers. The Gripper can be used
for both internal and external grip, e.g. by rotating the fingertips. Make sure that the
offset is adjusted before entering values into the Gripper settings.

See the figure below, for external grip, and internal grip with rotated fingertips.

See the figure below, for the gripper work range.

2.6.1 Finger Thickness

The finger thickness is used to specify the distance from the inside of the RG2
aluminum fingertip to the reference point on the attached fingertip.
When removing or changing the fingertips, the thickness of the fingertips have to
be adjusted in the RG2’ configurations.

For more information, see section Settings.

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 Getting Started

2.6.2 Gripping Speed

Speed table illustrating the difference in speed relative to the Gripper finger
position.

200 Speed

Gripper Spped [mm/s]

150

100

50

100
0
10
20
30
40
50
60
70
80
90

110
Gripper finger gap [mm]

2.7 Cable Connections

To connect the gripper, follow this process:

1. Connect the 8 pin M8 cable of the gripper to the Tool I/O connector on the
robot arm.
2.7.1 Tool Connections
The Gripper cable is intended to fit the tool connector OnRobots from Universal
Robots. The connections are described below. The output tool connector on the
Gripper shares the same connections as the input cable described below.

Cable RKMV 8-354

Pin Wire UR Tool UR I/O V3

1 White AI2 Tool analog input 2
2 Brown AI3 Tool analog input 3
3 Green DI9 Tool input 1
4 Yellow DI8 Tool input 0
5 Gray Power 24V DC
6 Pink DO9 Tool output 1
7 Blue DO8 Tool output 0

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 Getting Started

8 Red GND 0V DC
CAUTION:
1. If the Gripper is used in applications where it is not connected to a UR robot.
i. Make sure the connections resemble the analog input, digital in and
outputs
and the power connections.
ii. Make sure you use a RG2 Gripper programming script that is adapted
to fit your specific application. For more information, please contact
your supplier.
2. Do not operate the Gripper in a wet environment.
2.7.2 Power Supply
The Gripper can operate at both 12V and 24V. At 12V the forces, speed and some of
the function tolerances described in this manual do not apply. It is recommended to
use 24V.

2.8 UR Compatibility

If the UR version is 3.0 <= and >= 3.3. It is recommended to upgrade the robot to the
newest available UR software and install the URCap plugin that is installed in this
manual. If the robot is < 3.0 the OnRobot USB pen will detect it and install the
templates needed for your robot version. In such case please see the User Manual
version 1.44 placed on the USB in the folder “\ON\CLASSIC\Technical support”.

Compatibility overview:

If the firmware version is too low, the URCap will automatically guide you to update
the firmware.

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 Getting Started

2.9 URCap Plugin Installation

To install the OnRobot URCap plugin, follow this process:

1. Insert the OnRobot USB drive in the USB slot on the right side of the Teach
Pendant. A progress bar appears, indicating the upload is in progress.

2. Wait for the Robot to reboot.

3. Initialize the robot.
Continue with URCap Plugin Setup.

2.10 URCap Plugin Setup

2.10.1 Mounting Setup

2.10.1.1 Bracket
Select the bracket that is used for mounting the RG2(s) on the robot.
The options are: “Single”, “Precision” or “Dual”.
The “Dual” bracket is used in case of a dual RG2 setup.

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 Getting Started

The “Precision” bracket offers an accurate remount of the RG2 with the rotation
options of 90° steps. With the “Single” and “Dual” brackets, the RG2(s) can be
rotated at 30° steps.

2.10.1.2 Rotation Buttons

Button marked ‘b’ will rotate the bracket 90° counter clockwise around the z-axis of
the tool flange

Buttons marked ‘a’ will rotate the selected RG2 +/- the step size (30°/90° depending
on bracket).

2.10.1.3 TCP Radio Buttons and Values

The radio button will change, if the values represent the transformation from the
𝑇𝐶𝑃
tool flange to the actual TCP 𝑇𝑓𝑙𝑎𝑛𝑔𝑒 ,or the transformation for the point in between
𝑇𝐶𝑃 𝑇𝐶𝑃
the fingers of the RG2 to the actual TCP 𝑇𝑅𝐺2 . The default values of 𝑇𝑅𝐺2 will always
𝑇𝐶𝑃
be [0,0,0,0,0,0] while 𝑇𝑓𝑙𝑎𝑛𝑔𝑒 is dependent on bracket and RG2 rotation.

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 Getting Started

𝑇𝐶𝑃 𝑇𝐶𝑃
The example above illustrates the difference between how 𝑇𝑅𝐺2 and 𝑇𝑓𝑙𝑎𝑛𝑔𝑒 is
calculated.
𝑇𝐶𝑃
The fields [X,Y,Z,RX,RY,RZ], both serve as input and output. When 𝑇𝑓𝑙𝑎𝑛𝑔𝑒 is selected,
the values will be affected by pressing the Rotation buttons and entering a new TCP
width. The values of [X,Y,Z,RX,RY,RZ] can always be overwritten. If a reset is wanted,
𝑇𝐶𝑃
the TCP radio button should be set to 𝑇𝑅𝐺2 and [0,0,0,0,0,0] should be filled in in the
rotation vectors [X,Y,Z,RX,RY,RZ].

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 Getting Started

The example shown above, illustrates what to take into account, if you extend the
RG2 fingers by 50 mm.

2.10.1.4 TCP Width

It defines the reference width for the point in between the fingers. A low width will
increase the displacement from the bracket to the point in between the fingers,
while a higher width will decrease the displacement.

2.10.1.5 RG2 Dual Setup

If the dual bracket is selected, the radio buttons “Master” and “Slave” will appear.
They control the rotation of the two RG2 Grippers. The Master/Slave radio buttons
will select if it is the Master or the Slave RG2 that should perform the action.

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 Getting Started

2.10.2 Settings

2.10.2.1 Fingertip Offset

The fingertip offset is used to specify the distance from the inside of the RG2
aluminum fingertip to the reference point on the attached fingertip.

The examples above, shows how the URCap uses the specified offset.

2.10.2.2 TCP Settings

The option to make the URCap plugin set the TCP [X,Y,Z,RX,RY,RZ] rotation vectors
at program start and/or every time the RG2 performs an action, is available at the
top right corner.

If the TCP is controlled manually and the “Depth Compensation” is not used, it is
recommended to disable both check marks. If the TCP is changed dynamically (during
a program) and the “Depth Compensation” is used, it is recommended to enable “set
TCP at RG2 action”.

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 Getting Started

2.10.2.3 Disable Single Step

If “Disable single step” is selected, the robot program can be started fast and is not
dependent on the number of RG2 commands, but in this case, it is not possible to
single step the RG2 commands. If it is deselected, the case is the opposite. This
option is also located in the top right corner.

2.10.2.4 Depth Compensation Settings

All the “Depth compensation” settings are used for controlling how the Depth
compensation should behave, when a RG2 command is set to enable Depth
compensation.

“Soft stop” will reduce all robot joint accelerations at the end of the compensation
and minimize the integrated compensation error but will make a small increase of
the command execution time.

If the “Lag warning” is enabled the robot will give a warning if the robot movement
lags the RG2 above the specified threshold. The reason for lag can be a low value of
the speed slider, low gain, high lookahead time, strict safety settings, robot
kinematic, fast RG2 movements (high force) and full RG2 stroke.

The “Lag threshold” is the threshold that will trigger a warning message if the lag
warning is enabled.

The “Gain” is the gain used for the servoj function used in the depth compensation.
See the UR script manual.

The “Lookahead time” is the lookahead time used for the servoj function used in the
depth compensation. See the UR script manual.

2.10.3 About Screen

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 Getting Started

When pressing the Onrobot logo in the top right corner, the above window will
appear. From this window it is possible to update the RG2 firmware and to see which
version of the URCap is installed.

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 Using the URCap Plugin

3 Using the URCap Plugin

3.1 OnRobot Feedback Variables

3.1.1 Single RG2

Feedback Variable Unit Description

grip_detected True/False True if Gripper has detected a work piece
lost_grip True/False True if Gripper has dropped a work piece

measure_width [mm] Width between the fingers of the Gripper

3.1.2 Dual RG2

Feedback Variable Unit Description

master_grip_detected True/False True if master has detected a work piece
master_lost_grip True/False True if master has dropped a work piece

master_measure_width [mm] Width between the fingers of the master

slave_grip_detected True/False True if slave has detected a work piece

slave_lost_grip True/False True if slave has dropped a work piece

slave_measure_width [mm] Width between the fingers of the slave

3.2 OnRobot URCap Commands

3.3 RG2 Command

To add a RG2 command, go to the Program tab select Structure and then the
URCaps tab. Press the RG2 button to add the command.

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 Using the URCap Plugin

3.3.1 Width and Force

“Width” is the target width that the RG2 will try to reach. If the specified force is
achieved, the RG2 will stop at a width that differs from the target width.

“Force” is the target force that the RG2 will try to achieve. If the target width is
reached before the target force, the RG2 will stop moving and the target force may
not be achieved at the anticipated width.

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 Using the URCap Plugin

3.3.2 Payload

When the “Set Payload” calculation is selected, the object weight must be entered
in the Payload field. The URCap plugin will then perform the calculation of the
resulting payload mass (sum of bracket, RG2(s) and object). The center of mass for
the object is assumed to be in the TCP. The object for the active Gripper is only taken
into the calculations if an object is grabbed.

The math behind the calculations:

𝑛

𝑀 = ∑ 𝑚𝑖
𝑖=1
𝑛
1
𝑹 = ∑ 𝑚𝑖 𝒓𝑖
𝑀
𝑖=1
n: number of present components

i: bracket, RG2_master, RG2_slave, master_object, slave_object

m: mass for each component

r: center of mass vector for each component

M: resulting mass send to UR controller (payload)

R: resulting center of mass vector (CX=Rx, CY=Ry, CZ=Rz)

The above formulas correlate with the TCP configuration setup, which is shown
below for reference. To make it simple, when the “Set Payload” is selected, it is only
necessary to take the weight of the object handled into account.

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 Using the URCap Plugin

Two examples of what the URCap will calculate in the case the RG2 will pick a
workpiece with the mass of 0.5Kg

Single mount bracket:

Robot payload = 0.09kg(bracket) + 0.65kg(RG2) + 0.5kg (work piece) = 1.24kg

Dual mount bracket:

Robot payload = 0.18kg (dual bracket) + 0.65kg (RG2 master) + 0.65kg(RG2 slave) +
0.5kg(work piece) = 1.98Kg

3.3.3 Depth Compensation

When “Depth Compensation” is enabled, the robot arm will try to make a movement
that compensates for the circular movement of the finger arms. There will be a small
lag between the RG2 and robot arm movement. This lag will be dependent on the
settings set in the installation, see Depth Compensation Settings. The
compensation is done along the z-axis, so any manual change that will change the
orientation of the z-axis will affect the compensation.

3.3.4 Feedback and Teaching Buttons

3.3.4.1 Gripping No Workpiece

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 Using the URCap Plugin

The “Open” and “Close” buttons are “hold to run” buttons, that will open and close
the (selected) RG2.
The illustration above shows how the width text will give feedback about the actual
width and if a work piece is grabbed and “Save actual width”, is pressed the current
width is set at the command.

3.3.4.2 Gripping Workpiece Internally

The illustration above shows how the width text will give feedback about the actual
width and a work piece is grabbed internally. When “Save grasp”, is pressed the
current width +3mm is set at the command.

3.3.4.3 Gripping Workpiece Externally

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 Using the URCap Plugin

The illustration above shows how the width text will give feedback about the actual
width and a work piece is grabbed externally. When “Save grasp”, is pressed the
current width -3mm is set at the command.

3.3.5 Dual Gripper

The Master/Slave buttons, selects if it is the master or slave Gripper, that should
perform the action.

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 Using the URCap Plugin

3.4 RG2 TCP command

The RG2 TCP command can be inserted to set the current TCP for the robot. The view
and the controls are similar to the Mounting setup screen. The “TCP radio buttons &
values” and “TCP width” is identical to the settings from the Installation, except that
they only affect the single command and not the installation.

For explanation, see TCP Radio Buttons and Values and TCP Width (if dual Grippers
are installed, see RG2 Dual Setup and Dual Gripper).

3.5 Script Function

When the OnRobot URCap is enabled, there will be a defined RG2 script function:

RG2(target_width=110, target_force=40, payload=0.0, set_payload=False,

depth_compensation=False, slave=False)

All the input arguments are the same as the ones used by the RG2 command. The
script function is useful for parameterized programming. For example, a relative
movement for quickly releasing a workpiece can be done as follows:

RG2(measure_width+5, 40)

That will open the Gripper 5mm with the target force set to 40N.

If a soft/compliant work piece needs to be marked with a certain depth(2mm) it

could be done with:

RG2(target_width=0, target_force=3, depth_compensation=True)

RG2(target_width=measure_width-2, target_force=40, depth_compensation=True)

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 List of Acronyms

4 List of Acronyms

Acronym Expansion
I/O Input/Output
TCP Tool Center Point
UR Universal Robots
URCap Universal Robots Capabilities
USB Universal Serial Bus

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 Appendix

5 Appendix

5.1 Technical Specifications

Technical data Min Typical Max Units

IP Class 54
Total stroke (adjustable) 0 - 110 [mm]

Finger position resolution - 0,1 - [mm]

Repetition accuracy - 0,1 0,2 [mm]

Reversing backlash 0,2 0,4 0,6 [mm]

Gripping force (adjustable) 3 - 40 [N]

Gripping force accuracy ±0,05 ±1 ±2 [N]

Gripping speed* 55 110 184 [mm/s]

Gripping time** 0,04 0,07 0,11 [s]

Operating voltage*** 10 24 26 [V DC]

Power consumption 1,9 - 14,4 [W]

Maximum Current 25 - 600 [mA]

Ambient operating temperature 5 - 50 [°C]

Storage temperature 0 - 60 [°C]

Product weight - 0,65 - [kg]

* see speed table
** based on 8mm total movement between fingers, see speed table
***At 12V the Gripper runs at approximately half the normal speed

5.2 Software Uninstallation

To uninstall the URCap plugin, follow this process:

1. Go to the Welcome screen of the PolyScope.
2. Click Setup Robot.
3. Click on URCaps Setup and locate the RG - OnRobot in the list of active
URCaps.
4. Click on the - sign at the bottom to uninstall it.
5. Restart the robot.

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 Appendix

5.3 Declarations and Certificates

5.3.1 CE/EU Declaration of Incorporation (original)

According to European Machinery Directive 2006/42/EC annex II 1.B.

The manufacturer:

OnRobot A/S
Teglvaerksvej 47H
5220 Odense SØ
Denmark
+45 53 53 57 37

declares that this product:

Type: Industrial Robot Gripper

Model: RG2
Serial number: 1000000000 - 1009999999

is partly completed machinery according to 2006/42/EC. The product must not be

put into service before the complete machine is in full compliance with all essential
requirements of 2006/42/EC. A comprehensive risk assessment must be carried out
for each application as part of ensuring that all essential requirements are fulfilled.
All essential requirements must be assessed. Instructions and guidance provided in
the RG2 user manual must be followed.

Technical documentation compiled according to 2006/42/EC annex VII part B is

available to national authorities upon request.

The product is in conformity with, and CE marked according to, the following
directives:

2014/30/EU — Electromagnetic Compatibility Directive (EMC)

2011/65/EU — Restriction of the use of certain hazardous substances (RoHS)
2014/35/EU — Low Voltage Directive (LVD)

Niels Degn
CTO
Odense, January 2nd, 2019

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 Appendix

5.4 Editions

Edition Comment
Edition 2 Document restructured.
List of Acronyms added.
Appendix added.
Target Audience added.
Typographic Conventions added.

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