ROBOTIQ Hand-E Quick Start Manual

THANK YOU FOR
CHOOSING ROBOTIQ
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.
1.WHAT IS SUPPLIED?
Standard upon delivery of a Universal Robots kit:
Hand-E
Gripper Coupling
(HND-TIP-START-KIT)
Fingertip Starting Kit
(CBL-COM-2065-10-HF)
High-Flex Device Cable
(ACC-ADT-USB-RS485)
USB to RS485 Adapter
USB Stick
Necessary Hardware
2.TOOLS YOU NEED
2 mm 4 mm
Slotted Screwdriver Hex Key
3.GET THE LATEST
Visit: support.robotiq.com
• 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.
!
PLEASE READ THE INSTRUCTION MANUAL
BEFORE OPERATING THE GRIPPER.
4.MOUNTING
• 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.
(HND-GRP-001)
(GRP-CPL-062)
(M5 screws)
(M6 screws)
(CBL-COM-2065-10-HF)
*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.
!
LEAVE ENOUGH EXCESS CABLE TO ALLOW
FULL ROBOT MOVEMENT.
5.WIRING
• 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.
Power
PWR 24V
GND CI0
24V 24V
0V CI1
24V
CI2
24V
CI3
• Connect the communication wires in the USB converter
(ACC-ADT-USB-RS485) as shown.
(1)
485+
(2) 485-
(Gripper)
(3) 485 GND
CAREFUL !
FRAGILE PINS
Pin
1
2
3
(Gripper coupling)
(Dowel pin*)
• Connect the USB converter to the UR controller.
6.SOFTWARE INSTALLATION
• 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.
CI
CI CO CO
24V 0V 0V
CI4 CO0 CO4
24V 0V 0V
CI5 CO1 CO5
24V 0V
0V
CI6 CO2 CO6
24V 0V 0V
CI7
CO3 CO7
1
2
3
4
5
CBL-COM-2065-10-HF
Signal Name
High-Flex Device Cable
485 + (A)
WHITE
485 - (B)
GREEN
485 GND
SHIELD