ROBOTIQ HAND-E Series User manual

1.WHAT IS SUPPLIED?
Standard upon delivery of a Universal Robots kit:
(HND-GRP-001)
(GRP-ES-CPL-062)
(HND-TIP-START-KIT)
(GRP-ES-CPL-PRO)
Hand-E
Gripper Coupling
Fingertip Starting Kit
Connection Protector Kit
USB Stick
Necessary Hardware
2.TOOLS YOU NEED
5.SOFTWARE INSTALLATION
4.MOUNTING
Visit: support.robotiq.com
This step-by-step guide will allow you to install and use
your Hand-E Gripper on e-Series Universal Robots.
6. ACTIVATE
THE GRIPPER
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 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.
• Mount the coupling (GRP-ES-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 coupling’s cable in the robot’s wrist connector.
• Cover the connection using the protector and the
provided M4 screws.
THANK YOU FOR
CHOOSING ROBOTIQ
3 mm
Hex Key
4 mm
Hex Key
• 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.
CAREFUL !
FRAGILE PINS
(Gripper)
(Gripper coupling)
(M5 screws)
(M6 screws)
(Dowel pin*)
(Coupling cable)
(M4 screws)
(Connection
protector**)
* 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.
** Select the connection protector corresponding to your robot
model in the GRP-ES-CPL-PRO kit.
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.

[email protected]
T: 1.418.380.2788 option 3
October 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.
For installation on
e-Series
Universal Robots
• Depending on the PolyScope settings used, the
Gripper position measurements can either display in
metric or imperial units.
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.
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• Tap the UR+ button to expand the Gripper Toolbar.
The Gripper position measurements can either display
in millimeters or inches, depending on the PolyScope
settings used.
8. USE NODES TO PROGRAM
WITH THE GRIPPER
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.