ROBOTIQ 2F-85 Manual de usuario

1.WHAT IS SUPPLIED?

2F-85 Basic gripper unit

or 2F-140 Basic gripper unit

Gripper coupling

Connection protector

Required hardware

2.TOOLS YOU NEED

4.MOUNTING

This step-by-step guide will allow you to install and use

your 2-Finger Adaptive Gripper on e-Series Universal

Robots.

3.GET THE LATEST

THANK YOU FOR

CHOOSING ROBOTIQ

3mm

hex key

4mm

hex key

2mm

hex key

5.SOFTWARE INSTALLATION

6. ACTIVATE

THE GRIPPER

• Have a USB stick that contains the .urcap file (section 3).

• Insert the USB stick in the robot’s teach pendant.

• Tap the triple bar icon in the upper right corner and select

the System menu on the left.

• Tap the URCaps submenu and then tap the +sign at the

bottom of the screen.

• Open Robotiq_Grippers-X.X.X.urcap.

• Tap the Restart button to activate the URCap.

• Tap the UR+ button to expand the Gripper Toolbar.

• The Gripper toolbar allows you to jog and test the

Gripper. For more information, refer to the

instruction manual.

Gripper Activate Node

• Tap the Installation button at the top of the screen.

• Tap the URCaps button in the navigation pane on the left.

• Select Gripper in the dropdown list.

• Go to the Dashboard tab.

• Check the Gripper is connected to the wrist checkbox.

• Tap the Scan button to locate any connected Gripper.

• Once the Gripper is located, tap the Activate button.

• Mount the coupling on your robot arm. Align with the

provided dowel pin.

• Secure using the provided M6 screws and tooth lock

washers

• Mount the Gripper on the coupling. Align with the dowel

pin.

• Secure using the provided M5 screws and tooth lock

washers.

• Plug the coupling’s cable in the robot’s wrist connector.

• Cover the connection using the protector and the

provided M4 screws.

Standard upon delivery of AGC-ES-UR-KIT-85 or -140

(AGC-GRP-2F85)

(AGC-GRP-2F140)

(GRP-ES-CPL-062)

(GRP-ES-CPL-PRO)

BEFORE OPERATING THE GRIPPER, PLEASE READ

YOUR INSTRUCTION MANUAL.

Visit: support.robotiq.com

DOWNLOADING THE URCAP

1. Go to Select brand > Universal Robots > 2F-85 and

2F-140 Grippers > Software > Gripper Software.

2. Select DOWNLOAD ZIP.

3. Save the ZIP file UCG-X.X.X to a USB stick.

DOWNLOADING THE INSTRUCTION MANUAL

Go to Select brand > Universal Robots > 2F-85 and

2F-140 Grippers > Documents > Gripper Instruction >

Download PDF.

* Select the connection protector corresponding to your robot

model in the GRP-ES-CPL-PRO kit.

CAREFUL !

FRAGILE PINS

M5 screws

and washers

M6 screws

and washers

M4 screws

Connection

protector*

Gripper

Gripper coupling

(Coupling cable)

Dowel pin

Parallel locking pins**

M3 screws

**Parallel locking pins can be installed to perform exclusively parallel

grasps with the Gripper. See instruction manual for more details.

November 2021

X-990037-B

For installation on

e-Series

Universal Robots

8. USE NODES TO PROGRAM

WITH THE GRIPPER

7. HOW TO CALIBRATE

THE GRIPPER

• Go to the Installation tab, tap the URCaps menu on the

left and select Gripper.

• Tap the Calibration tab.

• Tap the Calibrate button next to the Gripper icon to

start the Calibration wizard.

• The wizard prompts the user to fully close the Gripper,

regardless of the type of fingers/fingertips used.

• Measure the distance between the fingers/fingertips

and enter the measurement in the appropriate box.

• Tap the Continue button.

• The user is then asked to fully open the Gripper.

• Measure the distance between the

fingers/fingertips and enter the measurement in the

appropriate box.

• Tap the Continue button to complete the

Calibration wizard.

• Tap the UR+ button to expand the Gripper Toolbar.

Depending on the PolyScope settings used, the

Gripper position measurements can either display in

metric or imperial units.

QUICK START GUIDE

2F- 85

2F- 140

X-990037-B

[email protected]

T: 1.418.380.2788 ext. 3

support.robotiq.com

https://robotiq.com/support

This product is under a 1-year warranty.

Refer to your product instruction manual for details.

Gripper Node

• Tap the Program button at the top of the screen.

• Tap the URCaps button in the navigation pane on the left.

• Select Gripper in the dropdown list.

• Go to the Command tab to edit your Gripper’s action.

Grip Check Node

• Tap the Program button at the top of the screen.

• Tap the URCaps button in the navigation pane on the left.

• Select Grip Check in the dropdown list.

• Go to the Command tab to edit the node.

• Select a condition (If object is detected vs. If object is not

detected).

• If applicable, enter the object dimension for validation.

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