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ROBOTIQ Manuals
Robotics
2-Finger 140
Instruction manual
ROBOTIQ 2-Finger 140 Instruction Manual
Adaptive robot gripper
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
Revisions
1 General Presentation
2 Safety
Warning
Intended Use
3 Installation
Scope of Delivery
Required Tools and Equipment
Environmental and Operating Conditions
Mechanical Installation
Electrical Setup
Testing the Gripper
Installation for Universal Robots
Urcaps Package
Installation
Uninstalling Urcaps Package
License Agreement
UR Package Without Urcaps
Installation
4 Control
Overview
Gripper Register Mapping
Robot Output Registers & Functionalities
Robot Input Registers & Status
Picking Features : Force Control, Re-Grasp and Object Detection
Control Logic - Example
MODBUS RTU Communication
Connection Setup
Read Holding Registers (FC03)
Preset Multiple Registers (FC16)
Master Read & Write Multiple Registers FC23
Modbus RTU Example
Control over Universal Robots with Urcaps
Gripper Toolbar
Gripper Node
Control over Universal Robots Without Urcaps
Gripper Toolbar
Demo Scripts
Custom Programs
Provided Variables and Functions
5 User Interface
6 Specifications
Technical Dimensions
Couplings
Coupling for ISO 9409-1-50-4-M6
Coupling for ISO 9409-1-31.5-4-M5
Coupling for ISO 9409-1-40-4-M6
Coupling for PCD 56 with 8 X M4
Coupling for PCD 56 with 6 X M4
Coupling for PCD 60 with 4 X M5
Coupling for PCD 63 with 6 X M6
Fingertips
Blank Fingertip
Flat Silicone Fingertip
Grooved Fingertip
Mechanical Specifications
Center of Mass and Moment of Inertia
Moments and Force Limit
Electrical Specifications
7 Maintenance
Gripper Cleaning
Periodic Inspection
Fingertip Replacement
Overhaul
8 Spare Parts, Kits and Accessories
9 Troubleshooting
10 Warranty & Patent
11 Contact
Harmonized Standards, Declarations and Certificates
A1. Translation of Original EC Declaration of Incorporation
A2. Applied Standards
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© ROBOTIQ INC. 2016
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