ROBOTIQ AGC-TM-KIT-140 Manuals

Manuals and User Guides for ROBOTIQ AGC-TM-KIT-140. We have 1 ROBOTIQ AGC-TM-KIT-140 manual available for free PDF download: Original Notice

ROBOTIQ AGC-TM-KIT-140 Original Notice

ROBOTIQ AGC-TM-KIT-140 Original Notice (126 pages)

Brand: ROBOTIQ | Category: Robotics | Size: 18 MB

Table of Contents

Table of Contents
2
Revisions

5
1 General Presentation

7
- Gripper Nomenclature
  8
- Object Picking
  10
- Setup and Control
  13
2 Safety

14
- Warning
  15
- Risk Assessment and Final Application
  15
- Intended Use
  16
3 Installation

17
- Scope of Delivery
  18
- TM Kit
  18
- Required Toolsand Equipment
  18
- Environmental and Operating Conditions
  19
- Mechanical Installation
  20
- Installing Fingers on the Gripper
  20
- Installing the Fingertips on the Gripper
  21
- Installing a Protector Kit on the Gripper Fingers
  22
- Installing the Gripper Onto the Robot
  22
- Single Gripper
  22
- Multiple Grippers
  23
- Electrical Setup
  24
- Pinout Interface
  26
- Coupling to Controller
  26
- Single Gripper
  28
- Multiple Grippers
  28
4 Control

30
- Overview
  30
- Gripper Register Mapping
  32
- Robot Output Registers& Functionalities
  33
- Robot Input Registers& Status
  36
- Picking Features
  39
- Force Control
  39
- Re-Grasp
  44
- Object Detection
  45
- Control Logic
  46
- Modbusrtu Communication
  47
- Connection Setup
  48
- Read Holding Registers (FC03)
  49
- Read Input Registers (FC04)
  50
- Preset Multiple Registers (FC16)
  51
- Master Read & Write Multiple Registers FC23
  52
- Modbus RTU Example
  54
- Control over TM
  63
- TM Robots Compatibility with Robotiq Grippers
  63
- Getting Started
  63
- TM Gripper Components
  67
- Installation
  67
- Gripper Button
  74
- Programming
  76
  - SET Component
    76
  - GRIP Component
    78
  - RELEASE Component
    79
  - CHANGEGRIPPER Component
    81
- Changing the Modbus Slave ID
  83
5 User Interface

85
6 Specifications

86
- Technical Dimensions
  87
- Couplings
  91
- Blank Coupling
  91
- Coupling for ISO 9409-1-50-4-M6
  92
- Coupling for ISO 9409-1-31.5-4-M5
  93
- Coupling for ISO 9409-1-40-4-M6
  94
- Coupling for PCD 56 with 8 X M4
  95
- Coupling for PCD 56 with 6 X M4
  96
- Coupling for PCD 60 with 4 X M5
  97
- Coupling for PCD 63 with 6 X M6
  98
- Fingertips
  99
- Flat Silicone Fingertip
  100
- Grooved Fingertip
  101
- Mechanical Specifications
  102
- Payload and Force
  103
- Friction Grasp and Form-Fit Grasp
  105
- Maximum Payload by Grasp Type
  105
- Equilibrium Line
  106
- Center of Mass, Tool Center Point and Moment of Inertia
  107
- Moment and Force Limits
  109
- Electrical Specifications
  110
7 Maintenance

111
- Gripper Cleaning
  112
- Periodic Inspection
  114
- Fingertip Replacement
  115
- Overhaul
  116
8 Spare Parts, Kitsand Accessories

117
9 Troubleshooting

120
10 Warranty and Patent

121
11 Contact

124
12 Harmonized Standards, Declarations and Certificates

125
- Translation of Original EC Declaration of Incorporation
  125
- Applied Standards
  126

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