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Related Manuals for Robotis HAND RH-P12-RN-UR
Summary of Contents for Robotis HAND RH-P12-RN-UR
- Page 1 User Manual...
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Page 2: Table Of Contents
RH-P12-RN-UR User Manual v1.1.0 Contents 1. Introduction ........................3 Package Contents ......................... 3 1.1. H/W Specification ......................... 3 1.2. 2. Mechanical Interface ......................4 Mounting ............................ 4 2.1. Dimensions..........................6 2.2. Work Space ..........................6 2.3. 3. Electrical Interface ......................7 External Port ........................... -
Page 3: Introduction
RH-P12-RN-UR User Manual v1.1.0 1. Introduction The RH-P12-RN-UR is 1-DoF 2-Finger Adaptive Gripper that can be compatible with e-Series of UNIVERSAL ROBOTS. Adaptive gripping design is applied to pick objects in different sizes and shapes. It features light weight and high power with current control (torque control). 1.1. -
Page 4: Mechanical Interface
RH-P12-RN-UR User Manual v1.1.0 2. Mechanical Interface The RH-P12-RN maintains torque only when power is being supplied. 2.1. Mounting RH-P12-RN-UR is compatible with e-Series of UNIVERSAL ROBOTS. ① Align the bracket with the guide pin and mount it on your robot arm. ②... - Page 5 RH-P12-RN-UR User Manual v1.1.0 ④ Fix the gripper using the provided M3x08 screws. ⑤ Make sure the power is off before connecting them using a robot cable. Otherwise, it may cause unexpected problems. ⑥ Plug the provided cable to either of cable connectors on the gripper (RH-P12-RN) and robot arm’s wrist connector.
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Page 6: Dimensions
RH-P12-RN-UR User Manual v1.1.0 2.2. Dimensions 2.3. Work Space Following image shows the range of RH-P12-RN work space between 2 fingers. - 6 -... -
Page 7: Electrical Interface
RH-P12-RN-UR User Manual v1.1.0 3. Electrical Interface 3.1. External Port Remove bolts and cover plate to reveal the external port. Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 3.3V PORT1 PORT2 PORT3 PORT4 An external port of RH-P12-RN contains 6-pins for Digital I/O and Analog Input. But the feature is not available for PolyScope. -
Page 8: Robot Cable
RH-P12-RN-UR User Manual v1.1.0 3.3. Robot Cable The provided robot cable is made of dual pin power supply to increase output current. Color Signal Type Description White AI2/RS485+ Analog in 2 or RS485+ Brown AI3/RS485- Analog in 3 or RS485- Green Digital Input 1 Yellow... -
Page 9: Software Setup
4.1. Installing URCap Package The USB stick in the package contains the .urcap file provided by ROBOTIS. Please visit ROBOTIS download center(http://www.robotis.com/) to find the latest URCap. ① Insert the USB stick that contains .urcap file into the USB connector of teach pendant. - Page 10 RH-P12-RN-UR User Manual v1.1.0 ④ Open the “ROBOTIS_RH_P12_RN-X.X.X.urcap”file from usbdisk, and tap the “Restart”button to activate the URCap. - 10 -...
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Page 11: Setup Tool I/O Interface Control
① Go to the “Installation” tab. ② Tap the “General” menu on the left and then tap the “Tool I/O” submenu. ③ On “I/O Interface Control”, select “ROBOTIS Gripper (RH-P12-RN)” from the “Controlled by” dropdown lists. ④ The “Tool Analog Inputs” and “Digital Output Mode” sections will be automatically configured and locked. -
Page 12: Start Dynamixel Controller Daemon
RH-P12-RN-UR User Manual v1.1.0 4.3. Start DYNAMIXEL Controller Daemon DYNAMIXEL Controller Daemon should be running in order to communicate with the gripper in RH-P12-RN URcap. ① Go to the “Installation” tab. ② Tap the “URCaps” menu on the left and then tap the “Gripper” submenu. ③... -
Page 13: Gripper Test From Toolbar
RH-P12-RN-UR User Manual v1.1.0 4.4. Gripper Test from Toolbar UR+ Toolbar contains functions to test the gripper. The toolbar is included in the URCap package, and installing the URCap package will automatically install the toolbar as well. Tap the “UR+” icon at the top right menu to display the toolbar. Torque Control : Select “Enable”or “Disable”to activate the torque of gripper. -
Page 14: Programming
RH-P12-RN-UR User Manual v1.1.0 5. Programming Please add the gripper control node in order to control the gripper using a robot program. ① Go to the “Program” tab. ② Tap the “URCaps” button in the navigation panel on the left. ③... -
Page 15: Grip Detection Node
RH-P12-RN-UR User Manual v1.1.0 5.2. Grip Detection Node The “Grip Detection” node is used to detect whether the gripper has grabbed an object and provide conditional statement thereof. The “Grip Detection” node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the object is not detected. - Page 16 RH-P12-RN-UR User Manual v1.1.0 In case of the conditional statement of “If” node is false, the command followed by “Else”node will be executed. Press the “Remove Else” button in the command tab to remove the “Else” node and execution commands followed by. - 16 -...
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Page 17: Gripper Move Node
RH-P12-RN-UR User Manual v1.1.0 5.3. Gripper Move Node The “Gripper Move” node is used to control the gripper using Position, Velocity Limit and Force Limit parameters. The “Position” that stands for the desired gripper stroke can be entered in the range of 1 ~ 106 mm. - Page 18 RH-P12-RN-UR User Manual v1.1.0 http://www.robotis.com KOREA korea@robotis.com america@robotis.com JAPAN japan@robotis.com CHINA china@robotis.com Others contactus2@robotis.com - 18 -...
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