SCHUNK EGH Mounting instructions

Translation of original software manual
Software manual
Flexible gripper EGH for cobot
SCHUNK software module for URCap

Imprint
2 04.00 | Flexible gripper EGH for cobot | Software manual | en | 1433429
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1433429
Version: 04.00|20/01/2022|en
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
Table of Contents
1 General.................................................................................................................... 4
1.1 About this manual ................................................................................................ 4
1.2 Symbol definition ................................................................................................. 4
1.3 Presentation of Warning Labels ........................................................................... 5
1.4 Applicable documents .......................................................................................... 5
2 Functional description of "URCap"........................................................................... 6
3 Installing the software module ................................................................................ 7
3.1 Uninstalling the software module ...................................................................... 10
4 Configure the software module ..............................................................................11
4.1 Configuring the IP address.................................................................................. 12
4.2 Gripper interface ................................................................................................ 12
4.3 Autoconnect ....................................................................................................... 12
4.4 Configuring the referencing of the gripper ........................................................ 13
4.5 Configuring digital outputs for the light band .................................................... 14
4.6 Info button.......................................................................................................... 14
5 Creating the robot program ....................................................................................15
5.1 EGH commands .................................................................................................. 16
5.2 EGH grip.............................................................................................................. 17
5.3 EGH position ....................................................................................................... 19
5.4 EGH color light band........................................................................................... 21
6 Monitoring the gripper status .................................................................................22
7 Setting the Tool Center Point (TCP) and gripper weight...........................................24
8 Example of a robot program ...................................................................................25
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General
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1 General
1.1 About this manual
This manual contains information on the "URCap" software.
The software is used to easily integrate and control the following
products in Universal Robots applications:
• Flexible gripper EGH for cobot
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed
under }1.4 [/5] are applicable.
This manual describes the software environment on an e-Series UR
robot. The described plug-in is also designed for use with the CB-
Series robots, although the content may vary. Follow the
instructions for the robot.
1.2 Symbol definition
The following symbols are used in this manual:
■Prerequisite for an action
1. Action 1
2. Action 2
✓Intermediate results
✔Final results
}1.2 [/4]: chapter number and [page number] in hyperlinks

General
1.3 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.
1.4 Applicable documents
• Assembly and operating manual for the product*
• Software guide "SCHUNK gripper with IO-Link"*
• Operating manual for the UR robot
The documents labeled with an asterisk (*) can be downloaded
from schunk.com/egh-downloads.
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Functional description of "URCap"
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2 Functional description of "URCap"
The "URCap" software is used for the simple commissioning and
programming of the SCHUNK gripper EGH in combination with
robots from Universal Robots. The "URCap" software is integrated
seamlessly into the "Polyscope" programming environment of
Universal Robots. The programming and configuration of the
gripper are supported via the control panel of the robot.
Before installing, check whether a more recent version of the
software module is available at schunk.com/egh-downloads.
To avoid compatibility problems, check the operating software of
the UR control unit before using "URCap" and update it if
necessary.

Installing the software module
3 Installing the software module
CAUTION
Possible damage to product!
The product or the robot may get damaged if electrical cables are
connected or disconnected during operation.
•Connect or disconnect electrical connections only when the
device is switched off.
NOTE
To install the software, SCHUNK recommends using the enclosed
USB stick.
Prepare the USB stick The USB stick must meet the following requirements:
• Formatted in FAT32 format
• Designation of the removable drive: "UR"
Designation of the USB stick
Installing the
software module NOTE
To avoid malfunctions, SCHUNK recommends installing the latest
version of the software module.
1. Download the latest URCap version at schunk.com/egh-
downloads and copy it to the USB stick.
2. Connect the USB stick to the robot control system. The USB
interface is located at the back.
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Installing the software module
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3. Switch on the robot control system.
✓The robot control system is started.
4. Open the menu at the top right and choose "Settings".

Installing the software module
5. Select the "System" button in the left menu.
✓A sub-menu opens.
6. Select the "URCaps" button.
7. Select the "+" button.
8. Select software module "SCHUNK Gripper".
9. Select the "Open" button.
✓The software module is added and displayed in the Explorer
window.
10. Select the "Restart" button to complete the installation.
✓The system restarts.
Configuring network
settings
1. Open the menu at the top right and choose "Settings".
2. Select the "System" button in the left menu.
✓A sub-menu opens.
3. Select the "Network" button.
✓The network settings are displayed in the Explorer window
on the right.
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Installing the software module
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4. Configure the connection via "Static IP Address".
NOTE
SCHUNK recommends the following information for error-free
communication with the product.
5. Enter an IP address for the robot control system in the "IP
address" input field, e.g. 192.168.1.101.
6. Enter the subnet mask of the network in the "Subnet mask"
input field, e.g. 255.255.255.0.
7. Select the "Apply" button.
8. Select the "Cancel" button in the left menu to close the
network settings.
3.1 Uninstalling the software module
1. Open the menu at the top right and choose "Settings".
2. Select the "System" button in the left menu.
✓A sub-menu opens.
3. Select the "URCaps" button.
4. Select software module "SCHUNK Gripper".
5. Select the "-" button.
6. Select the "Restart" button to complete the deinstallation.
✓The system restarts.

Configure the software module
4 Configure the software module
CAUTION
Risk of injury possible!
Safety-relevant signals (e.g. emergency stop) must be transmitted
externally, e.g. using a safety relay. In this configuration the
product would not be energized in the event of a safety incident.
•Review safety aspects within a risk assessment.
NOTE
Directly after the robot has started up or after the product has
been switched on for the first time, the message "FAST STOP"
must be acknowledged twice in the installation node. This is an
internal safety function that only enables the product after the
control system in use has been completely started up. Even if the
"URCap" software is deactivated, the product is still placed in a
security state and the "FAST STOP" must be acknowledged twice if
URCap is activated again.
1. Select the "Installation" button in the header line.
2. Select the "URCaps" button.
✓A sub-menu opens.
3. Select the "SCHUNK EGH Gripper" button.
✓The Explorer window displays the settings to be configured
and an image of the product.
4. Perform the configuration.
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Configure the software module
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The following details can be configured:
• IP address, }4.1 [/12]
• Gripper interface, }4.2 [/12]
• Autoconnect, }4.3 [/12]
• Referencing of the gripper, }4.4 [/13]
• Digital outputs, }4.5 [/14]
4.1 Configuring the IP address
1. Connect the product to a free port of the TURCK FEN20-4IOL
IO-Link master.
2. Enter the default IP address: 192.168.1.253
For further configurations please refer to the software offered by
TURCK, www.turck.de/de/productgroup/Downloads
4.2 Gripper interface
• Select the port of the TURCK FEN20-4IOL IO-Link master to
which the product has been connected in the drop-down
menu.
4.3 Autoconnect
The gripper can be automatically connected to the control system
using the autoconnect function. After a one-time configuration of
the IP address and port of the IO-Link master, the autoconnect
function can be activated by a checkbox. Upon subsequent restarts
of the control system, the gripper is automatically connected to
the control system.
NOTE
In order for a gripper to be used automatically in a program after
autoconnecting, an error must be acknowledged twice in the
preprogram with a short delay. Afterwards, the gripper must still
be referenced.

Configure the software module
4.4 Configuring the referencing of the gripper
NOTE
Referencing the product takes some time. During this time, it is
recommended not to perform any other operations on the
product and robot.
NOTE
A stroke measurement should be performed if the stroke of the
base jaws is limited, for instance, by specific gripper finger shapes.
The stroke measurement moves contrary to the referencing
direction. If no stroke measurement is performed, a stored default
value for a stroke of 40 mm per base jaw is used.
■All workpieces have been removed.
■The base jaws are unobstructed as far as the end stop in the
referencing direction.
1. Set the reference direction of the base jaws to "Inner" or
"Outer" in the drop-down menu.
2. Select the "Reference" button
✓The product moves in a set direction up to the mechanical
end stop, zero position is set.
3. Select the "Stroke measurement" button.
✓Maximum stroke is determined
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Configure the software module
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4.5 Configuring digital outputs for the light band
NOTE
Control of the light band is only possible via the separate digital
supply lines. If the light band is deactivated, the digital outputs are
not used in the program.
1. Connect the light band to the robot control system or the
TURCK IO-Link master.
2. In the drop-down menu, deactivate the light band or select
whether the light band is connected to the TURCK FEN20-4IOL
IO-Link master or to the robot control system.
✓The input fields "DO - blue cable" and "DO - red cable" are
now active.
3. Enter the corresponding ports of the TURCK IO-Link master or
the digital outputs of the robot control system in the input
field.
4. In the LED program node, select the corresponding color and
test the configuration if necessary, }5.4 [/21].
When using the robot control system, SCHUNK recommends using
the digital outputs of the "Digital I/O" group for general purposes
to control the light band. The output address to be configured
refers to the numbering of the ports shown above.
Recommended use of the digital outputs to control the light band
4.6 Info button
Pressing the Info button displays general information such as the
software and hardware version of the gripper. Reading out the
data takes several seconds.

Creating the robot program
5 Creating the robot program
After installing the software module "SCHUNK EGH URCap", URCap
actions can be inserted into a robot program.
1. Select the "Program" button in the header line.
✓The robot program and a short description for creating the
program are displayed in the Explorer window.
2. Select the "URCaps" > "SCHUNK EGH Gripper" button.
✓The plug-in actions are displayed in the Explorer window.
The following actions can be selected in the Explorer window:
• EGH commands
– Stop
– Quick stop
– Referencing
– Acknowledging
• EGH grip (or EGH release)
• EGH position travel (or EGH relative travel)
• EGH color light band
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Creating the robot program
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5.1 EGH commands
Command Description
Stop The gripper is brought to a controlled standstill.
The gripping force is maintained.
Fast stop The electrical power supply is interrupted
immediately, the gripper is stopped uncontrolled.
An error message requiring acknowledgment is
generated. IMPORTANT!Material damage to
the workpiece possible! Ensure that all
workpieces have been removed and that the
base jaws are free to move in the reference
direction up to the end stop
Reference The gripper moves in the configured referencing
direction up to the mechanical end
stop, }4.4 [/13].
Acknowledge If an error has been eliminated, the gripper is
switched from the error state to the normal
operating state. The actuator remains de-
energized until the next command. In the event
of an error that needs to be acknowledged, the
first of the three indicator LEDs on the gripper
changes from green to red.
1. Select a command.
✓The action has been added to the robot program.
2. Select the "Execute" button to test the action.

Creating the robot program
5.2 EGH grip
With the "Gripping" action, the set gripping direction is moved to
the stop and the workpiece is held with fixed force
(25/50/75/100%). Before reaching the entered target position, the
motor current and thus the speed of the base jaws is reduced. This
protects the gripped workpiece from damage.
NOTE
During the first gripping process, the complete stroke is driven at
a reduced speed and current. The position of the last successful
grip is accepted as the intended workpiece position for the next
grip command. The intended workpiece position is reset to
blockage after referencing, stroke measurement as well as after
positioning.
Gripping
parameters
Value Note
Gripping
direction
I.D. gripping The base jaws move from the
inside to the outside. The
workpiece is gripped from the
inside. With this setting, the
gripper moves the base jaws
together when released.
O.D. gripping The base jaws move from the
outside to the inside. The
workpiece is gripped from the
outside. With this setting, the
gripper moves the base jaws
apart when released.
Gripping force 25%, 50%, 75%
or 100%
Percentage of the maximum
gripping force used for the
current grip.
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Creating the robot program
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Gripping
parameters
Value Note
Target position between 0.0
and max. stroke
The target position indicates up
to where the gripper is to be
opened or closed. The maximum
stroke can be determined when
referencing the
gripper, }4.4 [/13].
1. Select "Gripping" or "Releasing".
2. Set gripping parameters.
✓The action has been added to the robot program.
3. Select the "Execute" button to test the action.

Creating the robot program
5.3 EGH position
CAUTION
Material damage to the workpiece possible!
This action is not suitable for gripping, because the movement
always takes place at maximum speed.
•For positioning on an end stop, select the commands
"Gripping" and "Releasing".
NOTE
If the action "EGH position" is interrupted by a blockage, the drive
switches off and an error message requiring acknowledgment is
generated. The actuator remains de-energized until the next
motion command.
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Creating the robot program
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Command Description
Absolute
position
The base jaws move to the position defined
under "Target position".
Relative
position
The base jaws move to a position determined by
the relative distance to the current position of
the base jaws. The relative distance is defined in
the "Target position" field.
Wait for
command to
complete
If the command is selected, the entire movement
waits before the next action in the robot
program is executed.
If the command is not selected, the next action is
performed before the movement is complete.
For example, the robot arm is then moved while
the base jaws are moved into position.
No other gripping commands should follow in
direct succession. Otherwise, the corresponding
follow-up gripping command is executed before
the movement is completed.
1. Select "Absolute position " or "Relative position".
2. Enter the desired value in the "Target position" input field.
3. If necessary, select "Wait for command to complete".
✓The action has been added to the robot program.
4. Select the "Execute" button to test the action.