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2-Finger 85
ROBOTIQ 2-Finger 85 Manuals
Manuals and User Guides for ROBOTIQ 2-Finger 85. We have
1
ROBOTIQ 2-Finger 85 manual available for free PDF download: Instruction Manual
ROBOTIQ 2-Finger 85 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
Connection Setup
55
Read Holding Registers (FC03)
56
Preset Multiple Registers (FC16)
57
Master Read & Write Multiple Registers FC23
58
Modbus RTU Example
59
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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