QB Robotics SoftHand Industry User Manual

USER GUIDE

Please read carefully these instructions before use. Do not discard: keep for future

reference.

www.qbrobotics.com

This page is intentionally left blank

www.qbrobotics.com

Dear customer,

Thank you for purchasing our product.

The present document provides information at best of our knowledge at the time of
publication. This document could present differences from the product and it is subject
to changes without notice: the latest version is available on our webpage

www.qbrobotics.com.

qbrobotics s.r.l. does not assume any responsibility for errors or omissions.
In no case qbrobotics s.r.l. will be responsible for any loss, problems or damages to
persons or property arising from the use of this document.

The qb® logo and qbrobotics® are registered trademarks of qbrobotics s.r.l. The
indications of (R) are omitted.

Manifacturer:
qbrobotics s.r.l.
via Giuntini 13, 56023 Navacchio (PI), Italia

Release 1.0 15/07/2019

1

15 luglio 2019

Summary

1 Preface .................................................................................................................... 2

1.1 Using this document ......................................................................................... 2

1.2 Symbols and conventions ................................................................................. 2

2 Safety ...................................................................................................................... 3

2.1 Intended use ..................................................................................................... 3

2.2 Safety instructions ............................................................................................ 3

2.3 EC Directives on product safety ........................................................................ 4

2.4 Environmental conditions ................................................................................. 5

2.5 Environmental safety ........................................................................................ 5

2.6 Personnel qualification ..................................................................................... 6

3 Description .............................................................................................................. 6

4 Assembly ................................................................................................................. 7

4.1 SoftHand Industry mounting ............................................................................ 7

4.2 Cable connections ........................................................................................... 10

4.2.1 Set of cables ........................................................................................... 10

4.2.2 Driver ports ............................................................................................ 13

4.2.3 Connection sequence ............................................................................. 14

4.2.4 Digital I/Os cable “EC_CBL_26_CRMP24_WIRE_050” (OPTIONAL)........ 17

5 Installation ............................................................................................................ 19

6 Working with qb SoftHand Industry ..................................................................... 21

7 qb SoftHand Industry technical data .................................................................... 24

7.1 Fingers workspace .......................................................................................... 28

7.2 Adjustable wrist .............................................................................................. 29

8 Maintenance and warranty .................................................................................. 31

9 Appendix ............................................................................................................... 33

9.1 Troubleshooting .............................................................................................. 33

10 Certifications ......................................................................................................... 34

2

15 luglio 2019

WARNING: identifies information about practice or
circumstances that can lead to damages on the
device and to personal injury.
Attentions help you identify a hazard, avoid a
hazard, and recognize the consequence.

Courier text

Identifies file paths, file names and sw functions.

1 Preface

1.1 Using this document

The documentation must always be complete and in a perfectly readable
state.
Keep the document accessible to the operating and, if necessary,
maintenance personnel at all times.
Pass the document to any subsequent owner or user of the product.

1.2 Symbols and conventions

3

15 luglio 2019

WARNING:

• Check that all the content is intact after removing
it from the packaging.

• The device can be used only by specially trained
staff.

• Disconnect the power supply before installation,
cleaning or maintenance operations.

• Make sure that no residual energy remains in the
system.

• Always operate the product within the
specifications defined.

• Keep away from children and pets. Always set off
or unplug when not in use.

• Never use aerosol products, petroleum-based
lubricants or other flammable products on or near
the end-effector.

2 Safety

2.1 Intended use

The product design is intended for grasping objects in the weight range from
1 to 2000 g.
Fragile, sharp or sharp-edged objects shall not be grasped.
Objects having the ratio between the biggest and the smallest dimensions
≥8 and the main dimension greater than 300 mm shall not be grasped.
The product is intended for installation on robotic arms: the safety features
are stablished only for use as described in this document.
The safety of the product cannot be guaranteed in case of inappropriate use.
One, single, inappropriate use can result in a permanent damage to the
safety of the product.

2.2 Safety instructions

4

15 luglio 2019

• Do not use any damaged power cable, plug, or
loose outlet. It may cause damages to the product
or injury to people.

• Do not touch electrical components to avoid
damages due to electrostatic charges.

• Make sure the end-effector is properly and
securely bolted in place and cabled.

• Do not use if damaged or defective. Do not
disassemble.

• Do not insert any objects between moving parts
of the fingers.

• Keep head and face outside the reach of the end­effector.

• Do not wear loose clothing or jewelry when
working with the end-effector.

• Disrespect of these precautions can affect safety
of the device.

2.3 EC Directives on product safety

• The following EC directives on product safety must be observed.

• If the product is being used outside the UE, international, national

Machinery Directive (2006/42/EC)
Because of their small size, no serious threats to life or physical condition
can normally be expected from electric miniature drivers. Therefore, the
Machinery Directive does not apply to our products. The products described
here are not “incomplete machines”, so installation instructions are not
normally issued by qbrobotics.
Low Voltage Directive (2014/35/EU)
The Low Voltage Directive applies for all electrical equipment with a nominal
voltage of 75 to 1500 V DC and 50 to 1000 V AC. The products described in
this device manual do not fall within the scope of this directive, since they
are intended for lower voltages.

and regional directives must be also observed.

5

15 luglio 2019

WARNING:
Any use or application deviating from intended use is
deemed to be impermissible misuse. This includes, but is not
limited to:

• Use before performing a risk assessment;

• Use outside the permissible operational conditions

and specifications;

• Use in not low-dust environment;

• Use in places with high temperature or humidity;

• Use in wet places;

• Use in potentially explosive atmospheres;

• Use in medical and life critical applications;

• Use close to a human’s head, face and eye area;

• Use as a climbing aid;

• Use in outdoor applications.

2.4 Environmental conditions

Wrong environmental and operating conditions can lead to injuries, product
damages and/or significant reduction to the product’s life.

2.5 Environmental safety

The qb SoftHand Industry must be disposed of in accordance with the
applicable national laws, regulations and standards.
All the components of this product have been chosen in accordance with the
EU RoHS directive 2011/65/EU: they are produced with restricted use of
hazardous substances to protect the environment.
Observe national registration requirements for importers according to EU
WEEE Directive 2012/19/EU.

6

15 luglio 2019

2.6 Personnel qualification

If the personnel working with the product is not sufficiently qualified, may
occur serious injuries and damage.

• Observe the national safety regulations and rules and general safety
instructions.

• Before working with the product, the personnel must have read and
understood the complete assembly and operating manual.

• All work may only be performed by qualified personnel.

3 Description

qb SoftHand Industry is an anthropomorphic robotic hand based on soft­robotics technology, flexible, adaptable and able to interact with the
surrounding environment, objects and humans while limiting the risk of
hurting the operators, spoiling the products to be handled, and damaging
the robot itself.
The qb SoftHand is adaptable and can grasp different objects without any
change in the control action, showing an unparalleled level of simplicity and
flexibility.
Thanks to its soft nature the hand by qbrobotics exploits the principles of
synergies in a simple and intrinsically intelligent design that is not only safe
in unexpected human-robot interaction, but also adaptable to grasp
different objects without any change in the control action.
The combination of these innovations results in a flexible prehensile device
that can grasp a wide variety of objects. The single-motor actuation makes
the hand plug-and-play and simple-to-control (one single motor requires
one single control signal to close and open the whole hand) and affordable.

7

15 luglio 2019

#

instructions

1

Unlock by a single turn two
knobs (1) and rotate the
robot’s wrist (2).

4 Assembly

The qb SoftHand Industry Kit allows you to connect the device to your robot
arm.
The kit consists of:

• N.1 qb Softhand Industry 24V;

• N.1 external driver “G-DCWHI2.5/100EES”;

• N.1 ethernet cable “EC_CBL_UTP_6_RJ45_BLK_050”;

• N.1 power cable “EC_CBL_22_02_L50_RR_200”;

• N.1 STO cable “EC_CBL_26_CRMP3_WIRE_050”;

• N.1 power line communication bridge with main cable of 3m

“EC_CBL_26_M8FA8_CRIMP_100”;

• N.1 USB pen drive:

o Manual;
o Datasheet;

• N.1 cylindrical pin EN ISO 8734 A d6x10 h6;

• N.4 metrical screws EN ISO 10642 M6x10;

• N.1 Allen hex key.

4.1 SoftHand Industry mounting

Use only the screws provided within the package. Longer screws could
damage the robot or the hand. To assemble the hand on the robot arm,
please follow the instructions of Table 4-1:

8

15 luglio 2019

#

instructions

2

Keep (2) as shown in figure,
then tight the two knobs
(1).

3

Insert (3) into the 6 mm
hole on the wrist.

4

Center (2) on the wrist
diameter 63mm,

5

Fasten (2) to the UR wrist by
tightening the four screws
(4).

You need the 4mm
Allen wrench.

9

15 luglio 2019

#

instructions

6

Unlock by one turn two
knobs (1) and rotate the
device until the desired
position.

7

Fix the device by tightening
the 2 knobs (1).

Table 4-1 Installation guidelines of the SoftHand Industry on robot arm. Referring to the
balloons in the pictures: (1) n.2 knobs M4; (2) SoftHand Industry flange ISO9409-1-50-4-M6;
(3) n.1 cylindrical pin EN ISO 8734 A d6x10 h6; (4) n.4 metrical screws EN ISO 10642 M6x12.

10

15 luglio 2019

4.2 Cable connections

To connect the hand to the external driver, please use the provided set of
cables.

4.2.1 Set of cables

The provided cables are:

• Ethernet cable “EC_CBL_UTP_6_RJ45_BLK_050”

Figure 4-1 Ethernet cable.

• Power cable “EC_CBL_22_02_L50_RR_200”

Figure 4-2 Power cable to supply the external driver.

11

15 luglio 2019

• STO cable “EC_CBL_26_CRMP3_WIRE_050”

This cable has a screw terminal block to let the user connect the STO (Safe

Torque Off).

Figure 4-3 Cables with connectors and terminal block to connect the STO.

Figure 4-4 Locking system for external pin.

You can connect the Safe Torque Off in two ways:

Conn. A) Connection to Robot control box. In this way the STO is

managed by the control box and its safety protocols.

Conn. B) External power connection. In this way you can keep the

motor enabled and you have to turn off the external power source
to disable it.

12

15 luglio 2019

Pin n.

Wire color

Purpose

1

White

SSI 5 VDC

2

Brown

SSI GND

3

Green

SSI clock +

4

Yellow

SSI clock -

5

Gray

SSI data +

6

Pink

SSI data -

7

Blue

motor phase 1

8

Red

motor phase 2

• Main cable “EC_CBL_26_M8FA8_CRIMP_100”

The pinning of the female M8 connector, 8 poles, is given below:

Figure 4-5 Pinning and contacts of the M8 8 pin female connector.

Referring to Figure 4-5, the connections are the following:

Table 4-2 Signals and power connections.

13

15 luglio 2019

Port n.

Type

Function

Pins

1

2.54 mm Pitch Molex

STO

3

2

2.54 mm Pitch Molex

Feedback port C and I/O

24

3

2.54 mm Pitch Molex

Feedback port B

8

4

2.54 mm Pitch Molex

Feedback port A

12

5

Phoenix 3.81 mm Pitch ‘HC’

Auxiliary supply input

2

6

Phoenix 5 mm Pitch ‘HC’

Main Power

3

7

Phoenix 5 mm Pitch ‘HC’

Motor phases

4

8

USB Device Mini-B

USB

5

9

EtherCAT in

RJ-45

8

10

EtherCAT out

RJ-45

8

4.2.2 Driver ports

Figure 4-6 shows the provided external driver with the indication of the
ports; Table 4-3 External Driver ports.indicates the characteristics of each
port.

Figure 4-6 External driver.

Table 4-3 External Driver ports.

14

15 luglio 2019

4.2.3 Connection sequence

#

instructions

1

Assembly the motor phases of
the main cable to the 4-pin
connector for the port 7; block
the cables turning clockwise
the two screws.
Make sure to connect the red
cable to the M2 pin and the
blue cable to the M3 pin.

WARNING:
Pay attention to connect
cables in the correct
way.

You need the flathead
screwdriver.

2

Assembly the main cable to
the external driver.
Connect the 12-pin Molex
plug to the port 4 and the 4­pin connector to the port 7.

3

Connect the STO plug to the
external driver port 1.

15

15 luglio 2019

#

instructions

4

Assembly the power cable to
the 3-pin connector for the
port 6; block the cables
turning clockwise the two
screws.
Make sure to connect the
brown cable to the VP+ pin
and the white cable to the PR
pin.

WARNING:
Pay attention to connect
cables in the correct
way.

You need the flathead
screwdriver.

5

Connect the power cable to
the port 6, by the 3-pin
connector.
Driver nominal voltage 24V
(min 12V, max 95V)

6

Connect the Ethernet cable to
the port 9.

16

15 luglio 2019

#

instructions

7

Insert the M8 connector (4) of
the main cable into the
receptacle on the hand wrist
flange. Lock the M8 connector
by manually tightening its
threaded ring on the body of
the receptacle (max
tightening torque= 0.2 Nm).

WARNING:

Be careful to insert the
connector in the right
direction;
Do not rotate the M8
connector when
inserted into the
receptacle;
Minimum curve radius
of the cable (4) = 51mm.

Table 4-4 Assembly sequence of the cables.

Table 4-5 Connection layout for the external driver.

17

15 luglio 2019

4.2.4 Digital I/Os cable “EC_CBL_26_CRMP24_WIRE_050” (OPTIONAL)

This cable has a screw terminal block to let the user connect the 13 pins for
the digital I/Os communication. In the other end there is a Molex 24 pins
connector, for the external driver’s port 2. Figure 4-3 Cables with connectors
and terminal block to connect the STOshows the pin-out of the cable.

Figure 4-7 Cable with connectors and terminal block to connect the digital I/OS pins.

The digital inputs are listed below:

IN_GND: digital inputs ground;
IN1: fully opening at maximum speed;
IN2: fully closing at maximum speed and force;
IN3: fully closing at 25% of speed and maximum force;
IN4: fully closing at maximum speed and 75% of force;
IN5: fully closing at 25% of speed and 75% of force;
IN6: correct termination procedure to use before switching off.

All these states are activated by a pulse of a few tenths of a second on the
respective 24VDC digital input (with respect to the IN_GND which acts as a
ground for digital inputs). If the input remains high, the others can still be
activated, but the high one will not activate until it returns to "0" (0 VDC)
and then again to "1" (24 VDC).

18

15 luglio 2019

#

instructions

1

Connect the Digital I/Os
cable to the port 2.

It is not possible to activate multiple commands simultaneously. To give the
next input, the previous one must already have been completed.

The digital outputs are listed below:

OUT1: is "1" (24VDC) when the motor is stationary;
OUT2: is "1" (24VDC) when the number of cycles exceeds the

maintenance threshold;
OUT3: is "1" (24VDC) when there is an error in the program or in the
driver parameters;
OUT4: is "1" (24VDC) when the driver is in protection for some
electrical or mechanical problem.
OUT_VDD and OUT_GND: are the two references needed to define the
24VDC.

19

15 luglio 2019

5 Installation

# Example Installation

Following this very basic installation steps you can build the example code
from scratch and test the qb SoftHand Industry functionalities.

mkdir build
cd build
cmake ..
make
make install

The example code is stored under the src directory (it is called main.cpp as
usual). The building process generates an executable called

qbsofthand_industry_api_example in the base directory, that can be run in

any terminal.

The example prompt on screen the qb SoftHand Industry information and
close (and reopen) it just one time.

Before executing the example code, please be sure to have properly
connected and powered the device by following the official qb SoftHand
Industry User Guide.

Moreover, you need to be connected to the device through a proper
ethernet network. The device default parameters are the followings so
please set up your network adapter settings to fit this configuration (you may
change the device network parameters later).
* Network IPv4:
* Network Mask: 255.255.255.0
* Network Gateway: 192.168.1.1
* Network DHCP: disabled

For example, you may give the
adapter.

192.168.1.110

192.168.1.100 static IPv4 to your network

20

15 luglio 2019

If you find any problem during this simple setup, please feel free to raise a
support request at [e-mail].

# qb SoftHand Industry API

By exploring the simple example code above, you can understand most of
the features available for the user. Moreover, the documentation of the
whole library can be found both in the User Guide and in the

include/qbsofthand_industry_api/qbsofthand_industry_api.h header file.

The C++ shared library (compiled for both 32- and 64-bit systems) can be
linked against your own project to include the control capability of the qb
SoftHand Industry.

If you need special architecture binaries, please make a dedicated support
request at [e-mail].

21

15 luglio 2019

6 Working with qb SoftHand Industry

For the API the description of the class functions is:

namespace qbsofthand_industry_api_

class qbSoftHandIndustryAPI

qbSoftHandIndustryAPI()

Initialize the qb SoftHand Industry API handler by opening the proper
UDP socket and by testing its communication. The constructor tries to
connect to the qb SoftHand Industry for at most 30 seconds and then
returns. Through the method 'isInitialized()' is possible to test whether
the initialization succeeded or not. The default IPv4 address used for
the UDP socket connection is 192.168.1.110.

qbSoftHandIndustryAPI(const std::string &device_ip)

Initialize the qb SoftHand Industry API handler by opening the proper
UDP socket and by testing its communication. The constructor tries to
connect to the qb SoftHand Industry for at most 30 seconds and then
returns. Through the method 'isInitialized()' is possible to test whether
the initialization succeeded or not.
device_ip The IPv4 address used for the UDP socket connection. It must
be a valid IPv4 address.

~qbSoftHandIndustryAPI()

Close the UDP socket and perform the proper shutdown procedures.

float getCurrent()

Get the actual qb SoftHand Industry motor torque in percent value
w.r.t. the maximum value.

float getPosition()

Get the actual qb SoftHand Industry motor position in percent value
w.r.t. the maximum value.

float getVelocity()

22

15 luglio 2019

Get the actual qb SoftHand Industry motor velocity in percent value
w.r.t. the maximum value.

std::string getStatistics()

Get the qb SoftHand Industry device information.

bool isInitialized()

Return true if the initialization procedure has succeeded. return `true`
on success.

int setClosure(const float &position)

Send the given percent-position closure command reference to the qb
SoftHand Industry.
Position
the percent-position command reference, in range [0, 100] % where `0`
is the fully open configuration, and `100` is the fully closed.

return `0` on success; `-1` if the position is out of range.

int setClosure(const float &position, const float &velocity, const float
¤t)

Send the given percent-position closure command reference to the qb
SoftHand Industry, together with the speed reference command and
the maximum force that should be applied during the grasp.
This is the most complete command to send a reference to the qb
SoftHand and should be used for special cases. In normal usage, the
simpler version above should be preferred. All the parameters are
expressed in percent w.r.t. the maximum possible value.
Position
the percent-position command reference, in range [\p 0, \p 100] %
where \p 0 is the fully open configuration, and `100` is the fully closed.
Velocity
the speed command reference, in range [12.5, 100] % where `12.5` is
the minimum velocity of the closure, and `100` is full speed.
Current
the current threshold for the motor, in range [62.5, 100] % where `62.5`
is the minimum force that the hand can apply, and `100` is the

23

15 luglio 2019

maximum.return `0` on success; `-1` if at least one of the percent values
is out of range.

int setIP(const std::string &net_ip, const std::string &net_mask, const
std::string &net_gateway)

Change the qb SoftHand Industry IPv4 address, network mask and
gateway of the device.
It is worth noticing that the device should be connected first to use this
command.
net_ip
the device network IP address, e.g. 192.168.1.110.
net_mask
the device network mask, e.g. 255.255.255.0.
net_gateway
the device network gateway, e.g. 192.168.1.1. return* `0` on success;
`-1` if at least one of the given IPv4-format addresses is wrong.

void waitForTargetReached()

Wait until the qb SoftHand Industry has reached the commanded
position.
This method should be called after a `setClosure` one, to wait for the
action to be completed.

24

15 luglio 2019

7 qb SoftHand Industry technical data

Figure 7-1 shows the overall dimensions of the qb SoftHand Industry.
Electrical and Mechanical characteristics of the hand are shown in Figure 7-1
and Table 7-1.

Figure 7-1 qb SoftHand Industry dimensions, which are the same for the left and right hand
(dimensions in mm and out of scale).

25

15 luglio 2019

The figure belowFigure 7-2 represents the mechanical interface coordinate
system ΣM (OM; XM, YM, ZM) of an articulated robot, as defined by ISO
9787:2013. In particular, the center of the coordinate system, OM, is on the
interface surface of the robot tool flange and the ZM axis is coincident with
the tool flange axis of symmetry.

Figure 7-2 mechanical interface coordinate system ΣM (OM; XM, YM, ZM) of a generic articulated
robot. Ri is the i-th revolute joint of the robot. (O1; X1, Y1, Z1) is the base coordinate system of
the robot.

The system ΣT (OT; XT, YT, ZT) is the Tool Coordinate System of the device.
The center, OT, coincides with the center OM. The ZT axis is normal to the
palm, outgoing positive, and the YT axis is normal to the flange plane.
This definition implies that ΣT is the same for left and right one. So, the
positive orientation of XT axis will be on the side of the thumb in the right
hand and on the side opposite to the thumb in the left hand.
Figure 7-3 shows the system ΣT.

26

15 luglio 2019

MECHANCAL

UNIT

NOMINAL

MIN

MAX

weight

[kg]

0.89 - -

wrist mounting range

[deg] - 0

90

wrist mounting resolution

[deg]

7.5 - -

power grasp payload

[kg] - -

2.0

pinch grasp payload

[kg] - -

0.6

hanging payload

[kg] - -

5.0

full closing time

[s] - -

1.2

CENTER OF MASS

UNIT X Y

Z

coordinates
system ΣT

fully open

[mm]

2.4

80.5

14.3

fully closed

[mm]

1.1

75.3

17.5

Figure 7-3 Definition of the Tool Coordinate System ΣT (OT; XT, YT, ZT).

1external driver for best integration
Table 7-1 gives also the position of the center of mass and the inertia tensor
of the SoftHand Industry respect to ΣT (OT; XT, YT, ZT) and wrist pre-set in 0°
position. All coordinate systems here described follow the orthogonal right­hand rule.

27

15 luglio 2019

INERTIA TENSOR

UNIT

XX

XY

XZ

YY

YZ

ZZ

coordinates
system ΣT

fully open

[kgmm2]

-9535

-90

335

-9888

-1449

1343

fully closed

[kgmm2]

-8090

-72

155

-7963

-1752

1371

ENVIRONMENTAL

UNIT

NOMINAL

MIN

MAX

operating temperature

[°C] - -5

50

storage temperature

[°C] - -20

50

noise level

[dB]

52

40

61

ELECTRICAL

UNIT

NOMINAL

MIN

MAX

operating voltage

[V]

24

12

95

power consumption

[W]

12 6 200

CONTROL

communication protocols: EtherCAT, UDP

FEATURE

plug-and-play1

soft, human like fingers

adjustable wrist mounting position

splash, water, and dust resistance: IP65

interchangeable glove for special applications

NORMATIVE COMPLIANCE

ISO 12100

ISO/TS 15066

ISO 13849-1/-2

ISO 10210-1/-2

ISO 9409-1-50-4-M6

ISO/TR 20218-1

IEC 60529

IEC 61000-6-2/-6-4

Table 7-1 Basic data of the qb SoftHand Industry.

1

external driver for best integration

28

15 luglio 2019

7.1 Fingers workspace

Figures below show the hand workspace, in particular the fingers’ range.

Figure 7-4 Fingers workspace (dimensions in millimeters).

29

15 luglio 2019

WARNING:
Do not rotate the knobs more than one turn.

90° position

0° position

7.2 Adjustable wrist

You can adjust the pitch pre-set of the wrist in twelve positions, from 0° to
90° with a step of 7.5° and without using any tool. The Figure 7-5 shows the
extreme positions of the wrist: in the first position (0°) the axis ZT is normal
to the palm and in the last position (90°) the axis YT is normal to the palm.

Figure 7-5 Extreme position of the wrist pre-set.

Figure 7-6 shows a top view of the hand and a detail of the locking
components, with the graduated scale.

30

15 luglio 2019

Locking

knob

Rotation

axis

Figure 7-6 Rotation axis for wrist pre-set and locking knob to turn, in order to lock and unlock
the joint. The left joint has a graduated scale to read the angular position.

Follow the sequence below to change the wrist pre-set.

1) rotate the two knobs by a single counterclockwise turn;

2) rotate the hand at the desired angle (step of 7.5°);

3) lock the joints by turning clockwise the two knobs.

This feature will help you to assemble the hand to the robot flange.

31

15 luglio 2019

8 Maintenance and warranty

Products of the company qbrobotics s.r.l. are produced using the most
modern production methods and are subject of strict quality inspections. All
sales and deliveries are performed exclusively based on our General
Conditions of Sale and Delivery, which can be viewed on the qbrobotics
home page

qbrobotics s.r.l. (Seller) warrants that Products conform with specifications
and free of defects in materials and workmanship. Seller will guarantee the
conformity of Products within the period of one (1) year from their delivery

(the “Warranty Period”). Buyer shall notify the defects to Seller within eight

(8) days after the knowledge. The above-mentioned warranty will cover only
the defects which appear in the Products used under proper use, care and
maintenance in accordance with the instructions provided with the Product.
In particular, the warranty will expire automatically in
case of tampering with the device or with the software.
The warranty does not cover parts subject to wear, such as the glove, the
motor tendon and the elastic bands.
Buyer, upon written consent by the Seller, shall return at his own expenses
the defective Product to Seller. Seller shall repair or replace the defective
Product and the repaired or replaced item shall be delivered by Seller to
Buyer at Seller's cost. Insurance, taxes and levies shall be borne by Buyer.
Products replaced in accordance with this clause shell be subjected to the
foregoing warranty for the unexpired portion of the Warranty Period or for
thirty (30) days from the date of their return to Buyer, whichever expires the
later.
Unless otherwise restricted by mandatory applicable law, the warranty set
forth herein is expressly in lieu of all other warranties, whether expressed or
implied, including, without limitation, any and all warranties of
merchantability, quality and fitness for use and for purpose, any advice and
recommendation and any obligations or liabilities which may be imputed to
Seller, any and all of which are hereby expressly disclaimed, denied and
excluded. Buyer expressly agrees that no warranty that is not specifically
stated in this agreement will be claimed or otherwise adhered to by buyer
and/or by anyone acting on buyer’s behalf and/or by anyone deriving the
legality of its claim from buyer, nor that will any such warranty be valid.

https://qbrobotics.com/terms-conditions/

32

15 luglio 2019

Seller neither assumes nor authorizes any other person to assume for it, any
other liability in connection with the sale, use or handling of any and all
goods specified or contemplated by this document. No warranty is made
with respect to any of these goods which have been subject to accident,
negligence, alteration, improper care, improper storage, improper
maintenance, abuse or misuse.

The duration of the warranty shall not be extended by services rendered
under the terms of the warranty. Insofar as no warranty default exists,
qbrobotics s.r.l. reserves the right to charge the customer for replacement
or repair.
qbrobotics s.r.l. shall have no liability for indirect, incidental, consequential
or special damages of any kind. These limitations are agreed allocations of
risk. Under no circumstances shall Seller's liability with regard to the sale or
use of the Products exceed the purchase price paid by Buyer for the
Products. In particular, Seller shall have no liability in the integration of the
Product provided by third party.

For any support request please contact us at the email

[e-mail].

33

15 luglio 2019

9 Appendix

#

Problem

Possible solution

1

The device presents
unusual behavior or
communication problems.

Check the wiring is correct

Make a
power cycle

If the hand is connected
to the power source of
the control box, make a
power cycle of the robot

If the hand is connected
to an external power
source, make a power
cycle of the driver.

2

Unusual posture of
fingers

Check the glove’s position

9.1 Troubleshooting

For any other issue, please contact

[e-mail].

34

15 luglio 2019

10 Certifications

Standards applied under development of the product is listed in this section.
When an EU Directive number is noted in brackets it indicates that the
standard is harmonized under that Directive.

ISO 12100:2010
EN ISO 12100:2010 (E) [2006/42/EC]

Safety of machinery – General principles for design – Risk assessment and
risk reduction.

The product is evaluated according to the principles of these standards.

ISO 10218-2:2011
EN ISO 10218-2:2011(E) [2006/42/EC]

Robots and robotic devices – Safety requirements for industrial robots Part
2: Robot systems and integration

The product is prepared for compliance with robot system requirements
defined in these standards.

ISO/TS 15066:2016
RIA TR R15.606

Robots and robotic devices – Safety requirements for industrial robots –
Collaborative operation This is a Technical Specification (TS), not a standard.

The product is prepared for easy integration in compliance with provisions
in this Technical Specification, see more in the safety chapter.

EN ISO13849-1:2015
EN ISO13849-2:2014

Part 1: Safety of machinery. Safety-related parts of control systems. General
principles for design.
Part 2: Safety of machinery - Safety-related parts of control systems - Part 2:
Validation

The product is evaluated according to these standards.

ISO/TR 20218-1:2018

35

15 luglio 2019

Robotics – Safety requirements for industry robots Part 1: Industrial robot
system end of arm tooling (end-effector)
This is a Technical Report (TR), not a standard. The product is designed

according to principles in this Technical Report.

ISO 9409-1:2004 [Type 50-4-M6]

Manipulating industrial robots – Mechanical interfaces

The EE flange conforms to type 50-4-M6 of this standard. Robots should also
be constructed according to this standard to ensure proper fitting.

EN 60529/A2:2013

Degrees of protection provided by enclosures (IP Code)

This standard defines enclosure ratings regarding protection against dust
and water. SoftHand Industry is designed and classified with an IP rating
according to this standard.

EN 61000-6-2:2005 [2004/108/EC]

Electromagnetic compatibility (EMC).
Part 6-2: Generic standards - Immunity for industrial environments.

EN 61000-6-4:2007/A1:2011

Electromagnetic compatibility (EMC).
Part 6-4: Generic standards – Emissions for industrial environment.