ROBOTIQ Hand-E C10 Instruction Manual page 28

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3.5.3. Coupling to Controller
CAUTION
Use proper cabling management.
Make sure to leave enough slack in the cabling to allow movement of the gripper along all axes without
pulling out the connectors. Always protect the controller side (robot side) connector of the cable with a
strain relief cable clamp.
The figure below illustrates the Hand-E C10 Gripper pigtail connector from the coupling (GRP-CPL-062 or AGC-CPL-XXX-002), the
device cable on the robot side (CBL-COM-2065-10-HF), and their associated pinout.
Table 3-4: Pinout of the Hand-E GripperHand-E C10 Gripper Pigtail and Device Cable
If additional cables are used, suggested cable specifications are as follows:
Power supply, fusing:
Minimum #22 AWG TEW, 300 V, or 600 V
RS485 signal
Minimum #24 AWG TEW, 300 V, or 600 V
A and B signals must be balanced at 120 Ohms.
Single Gripper (for CB-Series)
Prior to any software installation on Universal Robots, connect the white, blue, and bare wires to the Robotiq RS-485 signal
converter (ACC-ADT-RS485-USB).
Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller.
Robotiq Hand-E C10 Gripper Instruction Manual