ROBOTIQ CNC-RWC5-ES-UR-KIT User manual

1.WHAT IS SUPPLIED?
Standard upon delivery of CNC-RWC5-ES-UR-KIT
2.TOOLS YOU NEED
4.MOUNTING
3.GET THE LATEST
THANK YOU FOR
CHOOSING ROBOTIQ
5.SOFTWARE INSTALLATION
BEFORE OPERATING THE GRIPPER,
PLEASE READ INSTRUCTION MANUAL.
This step-by-step guide will allow you to install
and use your CNC Machine Tending Kit on
e-Series Universal Robots.
Dual Gripper Hand-E........................
Hand-E Fingertips Starting Kit.............
Hand-E Fingertips Extender Kit...............
2F85 Fingertip Conversion Kit.............
Grooved Fingertips for 2F-85, v4............
Machine Tending Copilot Kit....................
Robotiq Wrist Camera Kit (optional)..............
Required hardware
Visit : robotiq.com/support
DOWNLOADING THE URCAP
1. Select product > CNC Machine Tending Kit >
Universal Robots > Software > CNC Machine Tending
Software.
2. Select DOWNLOAD ZIP.
3. Decompress Zip file to a USB stick. Three URCap files
are included.
For easier mounting, move the robot tool flange
to make it point upwards.
IFYOUR KIT DOES NOT INCLUDE THE WRIST CAMERA, SKIP TO SUBSECTION
“MOUNTING THE ADAPTER PLATE AND HAND-E GRIPPERS”.
MOUNTING THE WRIST CAMERA
1. Place the Wrist Camera on the tool flange. Align with the
dowel pin already installed on the Wrist Camera.
2. Insert a dowel pin into the top part of the Wrist Camera,
then place the tool plate unto the Wrist Camera. Align
using dowel pin.
3. Insert a dowel pin into the tool plate, then place the
adapter plate unto tool plate.
MOUNTING THE ADAPTER PLATE AND HAND-E GRIPPERS
4. Insert four M6 screws and toothlock washers into the
adapter plate, and secure it to the tool flange.
5. Insert a dowel pin into a socket of the adapter plate.
6. Place a gripper coupling on the socket, and align using the
dowel pin.
7. Secure the gripper coupling to the adapter plate with four
M6 screws and toothlock washers, using a 4mm hex key.
8. Secure Hand-E to the gripper coupling with four M5 screws
and toothlock washers, using a 4mm hex key.
9. Repeat steps 4, 5, 6, 7, and 8 for the second Hand-E
gripper.
10. Secure the M8 splitter to the front of the adapter plate
with two M4 screws and lock washers, using a 3mm hex key.
11. Connect the M8 splitter to the robot tool connector.
For details on using the “Fingertips Extender Kit”
or the “2F85 Conversion Kit”, please refer to the
instruction manual of the CNC Machine Tending
Kit.
1. Have a USB stick that contains the required .urcap files
(
SEE SECTION “GET THE LATEST” ).
2. Insert the USB stick in the robot teach pendant.
3. Tap the triple bar icon in the upper right corner, and
select Settings.
4. Tap the sign.
5. Open required .urcap files:
• Grippers: UCG-X.X.X.urcap
• Machine Tending Copilot: UCS-X.X.X.urcap
• Wrist Camera (optional): UCC-X.X.X.urcap
6. Tap the Restart button to activate the URCap files.
7. The Gripper and Active Drive toolbars will display
shortly after software has been installed.
8. Connect to the robot controller the provided USB
dongle containing the Machine Tending Copilot license.
Hand-E gripper
M5 screws
and washers
M6 screws
and washers
M6 screws
and washers
gripper coupling
dowel pin adapter plate
M8 splitter
tool plate
(optional)
Wrist Camera
(optional)
M4 screws
and washers
dowel pin
Figure 1. Exploded view of the CNC Machine
Tending Kit, Wrist Camera included.
CUR-ES-DUAL-HND
HND-TIP-START-KIT
HND-TIP-EXT-KIT
AGC-TIP-CONV-KIT
AGC-TIP-205-085
CP-MT-ES-UR-KIT
RWC5-UR-KIT
3mm
hex key
4mm
hex key
2mm slotted
screwdriver
tool flange
!
robot tool
connector
!
DONOT CONNECT YOUR GRIPPERS TO THE M8 SPLITTER YET.
THIS WILL BE DONE AT ALATER STAGE, WHEN CONFIGURING YOUR
GRIPPERS ON THE TEACH PENDANT.

CNC MACHINE
TENDING KIT
[email protected]
T: 1.418.380.2788 ext. 3
robotiq.com/support
March 2021
X-990089-B
For installation on
e-Series
Universal Robots
6. DETECTING
GRIPPERS
1. Initialize the robot.
2. On your Teach Pendant, tap Installation > URCaps >
Gripper > Dashboard.
3. Connect a Hand-E gripper cable to the M8 splitter.
4. Tap
Scan , select the dropdown list, and assign a new
gripper ID. Note the ID you just assigned.
5. Select
Activate .
6. Disconnect your activated gripper from the M8 splitter,
and connect the second Hand-E gripper.
7. Repeat steps 5 and 6 for the second gripper. Make sure
to select a different gripper ID from the one used for the
first gripper.
8. Reconnect the first gripper to the M8 splitter.
9. To check that both grippers communicate properly with
the robot, select the
Activate and Reactivate buttons,
located next to each gripper.
QUICK START GUIDEQUICK START GUIDE
Figure 2. Activating two Hand-E grippers
on the Teach Pendant.
7.WIRING
(for Wrist Camera)
1. Connect the red wire of the device cable to a 24V pin
of the robot controller.
2. Connect the black wire of the device cable to a 0V pin
of the robot controller.
Power
PWR
GND
24V
0V
24V
CI0
24V
CI1
CI3
24V
CI2
24V
CI
24V
CI4
24V
CI5
CI7
24V
CI6
24V
CI
0V
CO0
0V
CO1
CO3
0V
CO2
0V
CO
0V
CO4
0V
CO5
CO7
0V
CO6
0V
CO
3. Connect the 4-port USB hub splitter to the USB port
of the robot controller.
4. Connect the Wrist Camera USB cable to the USB hub.
5. Make sure the following USB dongles are connected
to the USB hub splitter:
• Vision Server (server is packaged with the Wrist
Camera .urcap download; copy to a USB stick)
• Vision license
• Machine Tending Copilot license
Figure 3. Wiring the Wrist Camera to the robot controller.
!
A2MM SLOTTED SCREWDRIVER IS REQUIRED FOR THIS STEP.
X-990089-B
elearning.robotiq.com
To nd out how to set each gripper tool center
point, as well as how to specify the overall payload
of your Kit, and much more, refer to the instruction
manual of the CNC Machine Tending Kit, or to the
Robotiq eLearning platform.