ROBOTIQ 2F-85 User manual

1.WHAT IS SUPPLIED?
Standard upon delivery of a TM Series kit:
(AGC-GRP-2F85 or -2F140)
(GRP-CPL-062)
(CBL-COM-2065-10-HF)
(ACC-ADT-RS232-RS485)
(ACC-ADT-USB-RS485)
2-Finger Adaptive Gripper
Gripper Coupling
High-Flex Device Cable
RS232 to RS485 Adapter
USB to RS485 Adapter
Necessary Hardware
2.TOOLS YOU NEED
5.WIRING
4.MOUNTING
This step-by-step guide will allow you to install and use
your 2-Finger Gripper on TM Series robots.
3.GET THE LATEST
BEFORE OPERATING THE GRIPPER,
PLEASE READ INSTRUCTION MANUAL.
THANK YOU FOR
CHOOSING ROBOTIQ
LEAVE ENOUGH EXCESS CABLE TO ALLOW
FULL ROBOT MOVEMENT.
4 mm
Hex Key
2 mm
Slotted Screwdriver
2 mm
Hex Key
!
!
Visit: support.robotiq.com
• Select Techman Robot, 2F-85 and 2F-140 Grippers,
Software, Gripper Software.
• Download the latest TM Plug & Play Software Package.
• Decompress the package at the root of a USB storage
device and rename the USB device “TMROBOT”.
• Connect the communication wires in the RS232 signal
converter (ACC-ADT-RS232-RS485) as shown below.
• Connect the RS232 end of the signal converter to a COM
port of the robot controller.
• 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 device cable into the Gripper’s pigtail and
attach the cable along the robot arm using a cable
routing system.
Parallel locking pins can be installed to
perform parallel grasps only. For more details,
see the instruction manual.
• Connect the red wire to a 24V slot.
• Connect the black wire to 0V slot.
The red (24V) and black (0V) wires of the device
cable provide power to the gripper.
CAREFUL !
FRAGILE PINS
M5 screws
and washers
M6 screws
and washers
2-Finger
gripper
gripper coupling
dowel pin
high-flex
device cable
parallel
locking pins

2F-85 & 2F-140
ADAPTIVE GRIPPERS
QUICK START GUIDE
For installation on
TM Series
collaborative robots
6. SOFTWARE INSTALLATION
• Turn on the robot and log in to TM Flow.
• Connect the USB device that contains the Components
in the robot controller.
• Take control of the robot, tap the triple bar icon and
select System Settings.
• Click on Import/Export.
• Click on the Import button, select TMComponent in the
Robot List menu and click OK.
• Select the files to import in the list on the left and click
on the Send button.
• Turn on the robot and log in to TM Flow.
• Connect the USB device that contains the Components
in the robot controller.
• Take control of the robot, tap the triple bar icon and
select System Settings.
• Click on Import/Export.
• Click on the Import button, select TMComponent in the
Robot List menu and click OK.
• Select the files to import in the list on the left and click
on the Send button.
• Tap the triple bar icon and select Robot Setting.
• Enable the appropriate Components by clicking on the
radio buttons and click on the Save button.
7. GRIPPER BUTTON
CONFIGURATION
• In the TM Flow robot software, tap the triple bar icon
and select the Setting icon.
• Click on Gripper Button.
• In the Gripper Button window, tick the Using
Customized Component radio button.
• Select the Component you want to assign to either one
of the Gripper actions.
• In the popup window, select or change the Component
your wish to assign to the Gripper action/button.
• Click OK.
8. USE COMPONENTS TO
PROGRAM WITH THE GRIPPER
• From the TM Flow homepage, tap the triple bar icon
and select the Project icon.
• Locate the Gripper Components in the navigation pane
on the left side of the screen.
• Click on the program Component after which you wish
to insert a Gripper Component.
• Drag and drop the desired Gripper Component under
the highlighted Component.
Edit button Delete button
• For advanced parameters, click on the Edit button
(pencil icon) in the upper left corner of the Component;
the Components menu will pop up.
Follow the indications below to assign Gripper
commands to the Gripper button found on the robot
camera mounted on the robot wrist.
Opens Component
cheat sheet
Displays Component
subsettings
support.robotiq.com
X-990060-B
[email protected]
T: 1.418.380.2788 ext. 3
November 2021
X-990060-B