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Summary of Contents for Dobot AG Series
- Page 1 User Guide AG-95 Gripper User Guide Issue: V1.0 Date: 2021-8-10 Shenzhen Yuejiang Technology Co., Ltd.
- Page 2 Even if follow this document or any other related instructions, damages or losses will be happening in the using process. Dobot shall not be considered as a guarantee regarding all security information contained in this document.
- Page 3 AG-95 Gripper User Guide Preface Purpose This manual introduces the parameters, installation and operation of AG-95 gripper, which is convenient for users to understand and use the grippers. Intended Audience This document is intended for: Customer Sales Engineer ...
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Page 4: Table Of Contents
AG-95 Gripper User Guide Contents Description on Gripper .................... 1 Performance parameter ..................... 1 Dimensions ........................3 Color description of indicator lights ................. 4 Gripper Installation ....................6 Mechanical installation ..................... 6 Electrical connection ......................6 Jogging Gripper ....................... 9 Jogging gripper in Windows ..................... -
Page 5: Description On Gripper
AG-95 Gripper User Guide Description on Gripper AG series are adaptive electric gripper. The number (AG-number) represents the maximum gripping stroke of the gripper. The gripper is equipped with a pair of parallel fingertips, which runs symmetrically during the movement. The main structure of the gripper is a smooth rectangle. It is equipped with an 8-core communication interface, as shown in Figure 1.1. - Page 6 AG-95 Gripper User Guide Parameters Description Maximum recommended load Finger opening stroke (can be adjusted 0-95mm through programming) Gripper force (can be adjusted through 45-160N programming) Maximum finger opening and closing 136mm/s speed Weight Position repeatability 0.03mm Communication protocol TCP/IP, USB2.0, RS485, I/O, CAN2.0A, EtherCAT (optional) Supply voltage 24V DC±10% Working temperature range...
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Page 7: Dimensions
AG-95 Gripper User Guide Max allowable moment Mz (static) 4.75 N·m Dimensions shows the dimensions of the gripper. Figure 1.1 Figure 1.3 AG-95 dimensions diagram Figure 1.4 and Figure 1.5 show the opening and closing dimensions of AG-95. Issue V1.0 (2021-8-10) User Guide Copyright ©... -
Page 8: Color Description Of Indicator Lights
AG-95 Gripper User Guide Figure 1.4 Opening size of AG-95 Gripper Figure 1.5 Closing size of AG-95 Gripper Color description of indicator lights The gripper can feed back the state of the gripper in real time. You can get its state through Issue V1.0 (2021-8-10) User Guide Copyright ©... - Page 9 AG-95 Gripper User Guide commands or judge from the color of the indicator. Color description of indicator: Uninitialized state: Red light blinks, while other lights are off. Initialized State: The blue light is always on, indicating that it is in the operable state. ...
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Page 10: Gripper Installation
AG-95 Gripper User Guide Gripper Installation Mechanical installation Figure 2.1 AG-95 installation diagram Electrical connection Figure 2.2 shows the connection between CR robot and AG-95 gripper. You should plug the AG-95 cable to CR I/O port following the right cable sequence. Issue V1.0 (2021-8-10) User Guide Copyright ©... - Page 11 AG-95 Gripper User Guide Figure 2.2 Electrical connection NOTE If you select other types of grippers, please select the gripper supporting modbus RTU and connect it to robot correctly. Figure 2.3 and Table 2.1 show the pinout of the gripper. Figure 2.3 Pinout of the gripper Table 2.1 Pinout assignment Wire color...
- Page 12 AG-95 Gripper User Guide Figure 2.4 and Table 2.2 show the end effector pins of CR5. Figure 2.4 I/O interface Table 2.2 Pin description Name Description AI_1/485A Analog input 1/485A AI_2/485B Analog input 2/485B DI_2 Digital input 2 DI_1 Digital input 1 24V output DO_2 Digital output 2...
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Page 13: Jogging Gripper
AG-95 Gripper User Guide Jogging Gripper The parameter setting and jogging of the gripper need to be operated through CR software. For Windows, please use DobotSCStudio V2.0.6Beta or later versions; For Android, please use Android CRStudioV4.0.0.6 or later versions. For iOS, please use iOS CRStudio V2.1.0 or later versions. Jogging gripper in Windows This chapter mainly introduces how to use DobotSCStudio software in Windows to operate the gripper. - Page 14 AG-95 Gripper User Guide Figure 3.2 Install DH.zip Figure 3.3 Initialize AG-95 Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
- Page 15 AG-95 Gripper User Guide Figure 3.4 Initialization successful NOTICE Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
- Page 16 AG-95 Gripper User Guide Figure 3.5 Jog the gripper NOTICE Gripper may open or close during the initialization. Please ensure that there is enough space for the gripper. Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Page 17: Jogging Gripper In Android & Ios
AG-95 Gripper User Guide Jogging gripper in Android & iOS Prerequisites Select the right WiFi of the robot and connect it. The default WiFi name of CR robots is Dobot_WIFI_xxx and the default password is 1234567890. Procedure Figure 3.6 Install DH plug-in Issue V1.0 (2021-8-10) User Guide Copyright ©... - Page 18 AG-95 Gripper User Guide Figure 3.7 Initialize the gripper Click Init. Figure 3.8 Initialization successful Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
- Page 19 AG-95 Gripper User Guide Figure 3.9 Jog the gripper After installing the plug-in of the gripper, you can select APIs to operate the gripper. Figure 3.10 Select functions to operate the gripper Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
- Page 20 AG-95 Gripper User Guide Figure 3.11 Write a program Issue V1.0 (2021-8-10) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Page 21: Gripper Apis
AG-95 Gripper User Guide Gripper APIs This chapter mainly lists the description on APIs of AG-95 gripper, as shown in Table 3.1. Table 3.1 API description Function Parameters Description Parameter: null DhInit() Initialize the gripper Return: null DhSetForce(force) Parameter: force, the range is Set the gripper's force 20~100 DhSetPosition(position)
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