ROBOTIQ 2-Finger 140 Adaptive Gripper Manuals

Manuals and User Guides for ROBOTIQ 2-Finger 140 Adaptive Gripper. We have 1 ROBOTIQ 2-Finger 140 Adaptive Gripper manual available for free PDF download: Instruction Manual

ROBOTIQ 2-Finger 140 Instruction Manual

ROBOTIQ 2-Finger 140 Instruction Manual (127 pages)

Adaptive robot gripper

Brand: ROBOTIQ | Category: Robotics | Size: 7 MB

Table of Contents

Table of Contents
2
Revisions
3
1 General Presentation

4
2 Safety

11
- Warning
  12
- Intended Use
  13
3 Installation

14
- Scope of Delivery
  15
- Required Tools and Equipment
  16
- Environmental and Operating Conditions
  17
- Mechanical Installation
  18
- Electrical Setup
  21
- Testing the Gripper
  24
- Installation for Universal Robots
  26
- Urcaps Package
  27
  - Installation
    28
  - Uninstalling Urcaps Package
    30
  - License Agreement
    31
- UR Package Without Urcaps
  33
  - Installation
    34
4 Control

35
- Overview
  36
- Gripper Register Mapping
  38
- Robot Output Registers & Functionalities
  39
- Robot Input Registers & Status
  43
- Picking Features : Force Control, Re-Grasp and Object Detection
  46
- Control Logic - Example
  53
- MODBUS RTU Communication
  54
- Control over Universal Robots with Urcaps
  68
  - Gripper Toolbar
    69
  - Gripper Node
    72
- Control over Universal Robots Without Urcaps
  79
  - Gripper Toolbar
    80
  - Demo Scripts
    83
  - Custom Programs
    84
  - Provided Variables and Functions
    85
5 User Interface

87
6 Specifications

88
- Technical Dimensions
  89
  - Couplings
    93
    
    Coupling for ISO 9409-1-50-4-M6
    94
    
    Coupling for ISO 9409-1-31.5-4-M5
    95
    
    Coupling for ISO 9409-1-40-4-M6
    96
    
    Coupling for PCD 56 with 8 X M4
    97
    
    Coupling for PCD 56 with 6 X M4
    98
    
    Coupling for PCD 60 with 4 X M5
    99
    
    Coupling for PCD 63 with 6 X M6
    100
  - Fingertips
    101
    
    Blank Fingertip
    102
    
    Flat Silicone Fingertip
    103
    
    Grooved Fingertip
    104
- Mechanical Specifications
  105
  - Center of Mass and Moment of Inertia
    110
  - Moments and Force Limit
    112
- Electrical Specifications
  113
7 Maintenance

114
- Gripper Cleaning
  115
- Periodic Inspection
  116
- Fingertip Replacement
  117
- Overhaul
  118
8 Spare Parts, Kits and Accessories

119
9 Troubleshooting

121
10 Warranty & Patent

122
11 Contact

124
- Harmonized Standards, Declarations and Certificates
  125
  - A1. Translation of Original EC Declaration of Incorporation
    125
  - A2. Applied Standards
    127

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