ROBOTIQ HAND-E User manual

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)
1
2
3
4
5
!!
(CBL-COM-2065-10-HF)
WHITE
Pin Signal Name
1
2
485 + (A)
SHIELD
CBL-COM-2065-10-HF
High-Flex Device Cable
GREEN
3 485 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
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
(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.