Safety Certified ROS-native Industrial Manipulator

https://wiki.ros.org/pilz_robots

ROSCon 2019
Macau, November 1st 2019
Christian Henkel
Advanced Development Outline

Company ProfileGoals
Development Progress
System Overview
Component Aspects
Example Application
Christian Henkel

Safety Certified ROS-native Industrial Manipulator2 Company Profile

Pilz GmbH & Co. KG

Packaging technology

Automotive

Railway engineering

Wind energy Independent automation
technology company foundedin 1948
 Headquarters in Ostfildern near
Stuttgart Employees:
 2 515 worldwide
 2018 turnover: 345 Million Euro
 73 % export
Christian HenkelSafety Certified ROS-native Industrial Manipulator

3 Manipulator Module PRBT Number of axes: 6
 Max. load capacity: 6 kg
 Repetition accuracy: +/- 0.15 mm
 Mounting direction: any
 Weight: 19 kg
 Max. operating range: 741 mm
 Power supply: 24 V DC
 Interface: CANopen, ROS
 Safety functions:– STO (safe torque off)
– SBC (safe brake control) No proprietary controller needed

Christian Henkel

Safety Certified ROS-native Industrial Manipulator

4 Previous work in ROS

Example: Moving a Robot with Python APIDriver• Based on ros_canopen• Safety functions
Industrial planners• Using moveit• Industrial Requirements• Deterministic Behavior• Basic Movements: Linear, Point-to-Point, Circular• Blending of the above
Python API• Easy to use interface to aforementioned planners• No extensive training required
Supported by ROSIN - ROS-Industrial Quality-Assured Robot
Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
Christian Henkel

Safety Certified ROS-native Industrial ManipulatorMore on our planner at MoveIt Workshop
tomorrow @ Sheraton Grand Macao Hotel5 Goals
 Establish ROS in Industrial Applications
 Robot can be used with ROS
 No Proprietary Controller
 No Proprietary Teach Pendant  As much functionality as possible implemented in ROS  Safety Controller for Safety Functionality

 Robot certifiable under EN ISO 10218-1
 Applications are build purely in ROS
 Integrator can focus on application
Safety provided with the robot
 Pilz offering ROS Product Training from next Year
Christian Henkel

Safety Certified ROS-native Industrial Manipulator6 System Overview

InterfaceControlInterfaceControl

Traditional Setup

Intended Setup

ROS would be merely an afterthought

ROS as core component

Christian Henkel

Safety Certified ROS-native Industrial Manipulator

77 ISO 10218-1:2011 Robots and robotic devices — Safety requirements
for industrial robots — Part 1: Robots• Automatic / Manual
Reduced Speed• Display of Mode• Monitoring of Reduced
Speed

Robot stopping
functionsOperational modes

Exemplary Aspects of the Standard:• Emergency stop
• Smoothly stopping• Brakes in emergency• -> Brake Test• within time limit• Triggered from Pendant

Full Standard  https://www.iso.org/standard/51330.html
Christian Henkel

Safety Certified ROS-native Industrial Manipulator

8 Technical overview

InterfaceControlModbus

CANopen

Safe IO

Safe IO

Christian Henkel

Safety Certified ROS-native Industrial Manipulator

9 Development Progress

Start of Project

Implementation
Functional Modules

Certification

04/2019

06/2019

06/2020Christian Henkel

Safety Certified ROS-native Industrial Manipulator

10 Brake Test
 Robot must be able to brake safely
 When emergency stop is pressed When speed limit is violated When other safety sensors are trigger

Example: Performing a brake test with Python API

 Equipped with brakes
 Regular testing is required Safety Controller ensures test is preformed

 ROS can
 Ask when test is required Execute test at any point before time limit
 Safety Controller
 Disables drives if test is not performed within limit
 Ensures Safety
Christian Henkel

Safety Certified ROS-native Industrial Manipulator

11 Operation Modes Automatic Automatic execution of predefined program E.g. Script written in our API
 Manual reduced speed
 Limit of speed to 250 mm/s
 ROS will monitor any TF frame Robot can be controlled by any method in ROS

 Manual high speed
 Limit start at 250 mm/s but can be increased Control from ROS
 For teaching etc.

Christian Henkel

Safety Certified ROS-native Industrial Manipulator

12 Example Application: Visual Inspection
 Task: Inspect part features for large number of product variants
 Approach: Robot on-board camera supported on database to lookup poses and save results
 Strengths of ROS:
 High-level control based on the adaption of State-Machine packages
 Interface with other software components
 Use of workspace based (OMPL) and deterministic (pilz_industrial_motion) motion planners
Current Setup

Christian Henkel

Inspection Poses

Demo Setup

Safety Certified ROS-native Industrial Manipulator

Machine setup13 Summary

We want to help
establish ROS inindustrial
applications

Christian Henkel

Our robot RPBT6
supports ROS
natively

Safety Certified ROS-native Industrial Manipulator

We provide thesafety, so you
can focus on theapplication

14

Pilz GmbH & Co. KG
Felix-Wankel-Straße 273760 Ostfildern, Germany
Tel.: +49 711 3409-7860c.henkel@pilz.de
post@henkelchristian.dePlease visit
https://github.com/pilzde/pilz_robots
CMSE®, InduraNET p®, PAS4000®, PAScal®, PASconfig®, Pilz®, PIT®, PLID®, PMCprimo®, PMCprotego®,
PMCtendo®, PMD®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®, SafetyEYE®, SafetyNET p®,
THE SPIRIT OF SAFETY® sind in einigen Ländern amtlich registrierte und geschützte Marken der Pilz GmbH & Co. KG.
Wir weisen darauf hin, dass die Produkteigenschaften je nach Stand bei Drucklegung und Ausstattungsumfang vonden Angaben in diesem Dokument abweichen können. Für die Aktualität, Richtigkeit und Vollständigkeit der in Text
und Bild dargestellten Informationen übernehmen wir keine Haftung. Bitte nehmen Sie bei Rückfragen Kontakt zu
unserem Technischen Support auf.

Christian Henkel