ROBOTIQ HAND-E Manual de usuario

1.WHAT IS SUPPLIED?

Standard upon delivery of a Universal Robots kit:

(HND-GRP-001)

(GRP-CPL-062)

(HND-TIP-START-KIT)

(CBL-COM-2065-10-HF)

(ACC-ADT-USB-RS485)

Hand-E

Gripper Coupling

Fingertip Starting Kit

High-Flex Device Cable

USB to RS485 Adapter

USB Stick

Necessary Hardware

2.TOOLS YOU NEED

6.SOFTWARE INSTALLATION

5.WIRING

4.MOUNTING

Visit: support.robotiq.com

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

your Hand-E Gripper on Universal Robots with a robot

controller version CB3 and later.

3.GET THE LATEST

PLEASE READ THE INSTRUCTION MANUAL

BEFORE OPERATING THE GRIPPER.

• Get the up-to-date instruction manual (PDF or web browser).

• Get the corresponding Robotiq_Grippers-X.X.X.urcap.

• Download the .urcap file on a USB stick.

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

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

• Tap Setup Robot and then URCaps Setup.

• Tap the +sign.

• Open Robotiq_Grippers-X.X.X.urcap.

• Tap the Restart button to activate the URCap.

• The Gripper toolbar button will display a short time after

the installation of the software is completed.

• The red (24V) and black (0V) wires of the device cable

(CBL-COM-2065-10-HF) provide power to the Gripper.

• Connect the red wire to a 24V pin.

• Connect the black wire to a 0V pin.

• Connect the communication wires in the USB converter

(ACC-ADT-USB-RS485) as shown.

• Connect the USB converter to the UR controller.

• Mount the coupling (GRP-CPL-062) on your robot arm.

Align with the provided dowel pin*.

• Fix using the provided M6 screws (use of threadlocker is

recommended).

• Mount the Gripper (HND-GRP-001) on the coupling.

Align with the dowel pin*.

• Fix using the provided M5 screws.

• Plug the device cable (CBL-COM-2065-10-HF) into the

Gripper’s pigtail cable and fix the cable along the robot

arm using a cable routing system.

THANK YOU FOR

CHOOSING ROBOTIQ

LEAVE ENOUGH EXCESS CABLE TO ALLOW

FULL ROBOT MOVEMENT.

4 mm

Hex Key

2 mm

Slotted Screwdriver

485+

485-

485 GND

(1)

(2)

(3)

(CBL-COM-2065-10-HF)

WHITE

Pin Signal Name

485 + (A)

SHIELD

CBL-COM-2065-10-HF

High-Flex Device Cable

GREEN

485 GND

485 - (B)

(Gripper)

(M5 screws)

*The dowel pin is meant to have a tight t on the robot side and a

slip t on the eector side of the assembly.

Power

PWR

GND

24V

CI0

24V

CI1

CI3

24V

CI2

24V

CI4

24V

CI5

CI7

24V

CI6

24V

CO0

CO1

CO3

CO2

CO4

CO5

CO7

CO6

(M6 screws)

(Gripper coupling)

(Dowel pin*)

CAREFUL !

FRAGILE PINS

[email protected]

T: 1.418.380.2788 option 3

August 2018

V1.1

HAND-E

QUICK START GUIDE

support.robotiq.com

New product has a 1-year warranty from the above date.

Refer to your product instruction manual for details.

8. TEST AND JOG

THE GRIPPER

For installation on

CB-Series

Universal Robots

• Tap the Gripper button to expand the Gripper toolbar.

• Tap Activate to initialize the Gripper and access the

toolbar.

• Depending on the PolyScope settings used, the

Gripper position measurements can either display in

metric or imperial units.

• The Gripper toolbar allows you to jog and test the

Gripper. For more information, refer to the

instruction manual.

7. HOW TO CALIBRATE

THE GRIPPER

• From a robot program, go to the Installation tab and

select Gripper in the left pane.

• 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.

9. USE NODES TO PROGRAM

WITH THE GRIPPER

Gripper Node

• From your robot program, go to the Structure tab.

• Go to the URCaps tab.

• Tap the Gripper button.

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

Grip Check Node

• From your robot program, go to the Structure tab.

• Go to the URCaps tab.

• Tap the Grip Check button.

• 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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