ROBOTIQ ETF-CB-UR-KIT Manuals

Manuals and User Guides for ROBOTIQ ETF-CB-UR-KIT. We have 1 ROBOTIQ ETF-CB-UR-KIT manual available for free PDF download: Manual

ROBOTIQ ETF-CB-UR-KIT Manual (117 pages)

External Tool Finishing Kit

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

Table of Contents
2
Step
2
Revisions
6
General Presentation
7
Robotiq Hand-Egripper
7
Gripper Nomenclature
7
Object Picking
9
Setup and Control
9
Robotiq Finishing Copilot Software on E-Seriesrobots
10
Robotiq Force Torque Sensor on CB-Seriesrobots
10
Safety
13
Warning
13
Risk Assessment and Final Application
14
Intended Use
14
For the Hand-E Gripper
14
For the Finishing Copilot Software
14
Installation
15
Scope of Delivery of the External Tool Finishing Kit for UR(ETF-ES-UR-KIT)
15
Required Toolsand Equipment
16
Environmental and Operating Conditions
16
Hand-E Gripper
16
FT Sensor for CB-Series Robots
17
Mechanical Installation
17
Installing the Fingers/ Fingertips/Holders on the Hand-E Gripper
17
Installing the Hand-Egripper Onto E-Series Robots
19
Installing the FT Sensor and the Hand-Eonto CB-Series Robots
20
Step 1: Installation of the Robotiq Force Torque Sensor
20
Power Supply Specifications
21
Wiring
22
Wiring with USB to RS485 Converter
22
Step 2: Installation of the Hand-E Gripper Onto the FT Sensor
23
Installation of the External Tool Finishing Kit Urcap Package for E-Series
24
Uninstalling Urcap Package
27
Software
29
Hand-Egripper Control with Universal Robots
29
Gripper Dashboard
30
Overview on E-Series Robots
30
Overview on CB-Series Robots
31
Features
32
Gripper Calibration Menu and Wizard
33
Gripper Toolbar
37
Overview
37
On E-Series Robots
37
On CB-Series Robots
37
On E-Series and CB-Series Robots
37
Features
38
Gripper Operation Window
40
Gripper Node
41
Command Window
42
Features
43
Edit Action Screen
45
Features
45
Grip Check Node
47
On E-Series
47
On CB-Series
47
About
48
Error Messages Overview
50
Gripper Program Template
50
Copilot Control with Universal Robots
51
Find Contact Offset Node
52
Add Translation
54
Add Orientation
56
Apply Contact Offset
57
Finishing Tool Control Node
58
Path Recording Node
60
Overview
62
Features
63
Multipoint Path Node
64
How to Set up a Multipoint Path
66
Step 1
66
Path Generator
69
Activedrive Toolbar
73
Overview
73
Toolbar Collapsed
73
Toolbar Expanded
74
Features
74
Error Messages Overview
75
Insertion Nodes
76
Child Nodes
77
Features (Spiral)
77
Features (Rotational)
79
Features (Linear)
80
Find Surface Node
81
Force Control Node
83
Overview
83
Features
83
Reference Frame
83
Parameters
84
Current Vs Targeted Position
86
Motion Frame
88
Test
89
Force Event
90
Features (Click Detection)
92
Features (Wait for Force)
92
Collision Detection
93
Force and Torque Script Functions
95
Specifications
96
Technical Dimensionsof the Hand-E Gripper
96
Fingers and Fingertips
97
Rack
97
Flat Rubber (NBR) Overmolded Fingers
98
Fingertip Holders
98
Flat Aluminum Finger
98
Grooved Fingertips
99
Mechanical Specificationsof the External Tool Finishing Kit
100
Specifications of the FT Sensor on CB-Series Robots
100
Specifications of the Hand-Egripper
100
Payload and Force
101
Maximum Payload/External Force Vs. Custom Finger Design
102
Friction Grasp and Form-Fit Grasp
104
Maximum Payload by Grasp Type
104
Center of Mass and Tool Center Point of the FT Sensor and the Hand-Egripper
105
Moment and Force Limits
106
Electrical Specificationsof the FT Sensor
107
Electrical Specificationsof the Hand-E
107
Maintenance
108
Spare Parts, Kitsand Accessories
109
Troubleshooting
110
Warranty
111
Harmonized Standards, Declarations and Certificates
112
License Agreement
113
Contact
117

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ROBOTIQ ETF-CB-UR-KIT Manual (117 pages)

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