ABB Robotics FlexGripper Product Manual page 40

2 FlexGripper-Claw
2.3.4 Mounting the new gripper
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Action
Attach the cable bracket on the flange and
the cable routing to the robot wrist.
Note
Pass the cables through the plastic corrug-
ated pipe which is used as the cable pro-
tection.
Connect the power and air cables to the
manipulator wrist.
Connect the compressed air supply cable
to the valve unit and the power & signal
cable to the terminal box.
Jog the robot wrist to lift the new gripper
package, then pull down the wooden box
and separate it from the new gripper.
Set axis 4 to zero angle position. Manipu-
late the robot to check if axis 4 can rotate
to the position of angle 180 clockwise and
anti-clockwise without tensioning of the
cables and distortion of the corrugated
pipe.
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Info/Illustration
Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A