ROBOTIQ Gripper Manuals

ROBOTIQ Gripper Manuals

Manuals and User Guides for ROBOTIQ Gripper. We have 1 ROBOTIQ Gripper manual available for free PDF download: Instruction Manual

ROBOTIQ Gripper Instruction Manual

ROBOTIQ Gripper Instruction Manual (125 pages)

3-Finger adaptive Robot

Brand: ROBOTIQ | Category: Robotics | Size: 5 MB

Table of Contents

Table of Contents
2
Revisions
3
1 General Presentation

4
2 Safety

10
- Warning
  11
- Intended Use
  12
3 Installation

13
- Scope of Delivery
  13
- Environmental and Operating Conditions
  14
- Mechanical Connections
  15
- Power Supply Specifications
  16
- Wiring
  17
  - Power Connection
    19
  - Communication Connection
    21
    
    Devicenet Communication Protocol
    22
    
    Canopen Communication Protocol
    25
    
    Real-Time Ethernet Communication Protocol
    28
    
    Serial Communication Protocol
    32
4 Control

35
- Overview
  35
- Status Leds
  38
  - Supply LED
    39
  - Communication LED
    39
  - Fault LED
    39
- Gripper Register Mapping
  40
- Robot Output Registers & Functionalities
  43
- Robot Input Registers & Status
  50
- Control Logic - Example
  57
- MODBUS RTU Communication Protocol
  58
- MODBUS TCP Communication Protocol
  75
  - Connection Setup
    75
  - Read Input Registers (FC04)
    76
  - Preset Multiple Registers (FC16)
    77
  - Modbus TCP Example
    78
  - Application with Universal Robots
    88
5 User Interface

90
6 Specifications

91
- Technical Dimensions
  91
- Mechanical Specifications
  92
- Design and Customization
  94
- Moment of Inertia and Center of Mass
  100
- Electrical Ratings
  101
- Couplings
  102
  - Blank Coupling
    102
  - Yaskawa SDA-5D_10D Coupling
    103
  - Dimensions for Custom Coupling
    104
7 Maintenance

105
- Gripper Cleaning
  107
- Applying Grease
  108
- Periodic Inspection
  109
- Finger Pad Replacement
  110
- Gripper Palm Replacement
  111
- Fingertip Replacement
  112
- Gear Replacement
  113
- Overhaul
  114
8 Spare Parts, Kits and Accessories

115
9 Troubleshooting

120
10 Warranty

123
11 Contact

124
- EC Declaration of Conformity
  125

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