ROBOTIQ HAND-E User manual

1.WHAT IS SUPPLIED?

Standard upon delivery of a Universal Robots kit:

(HND-GRP)

(GRP-CPL-062)

(HND-TIP-START-KIT)

(CBL-COM-2065-10-HF)

(ACC-ADT-USB-RS485)

Hand-E

Gripper Coupling

Fingertip Starting Kit

High-Flex Device Cable

USB to RS485 Adapter

Necessary Hardware

2.TOOLS YOU NEED

6.SOFTWARE INSTALLATION

5.WIRING

4.MOUNTING

Visit: support.robotiq.com

This step-by-step guide will allow you to install and

use your Hand-E Gripper on Universal Robots with a

robot controller version CB3 and later.

3.GET THE LATEST

PLEASE READ THE INSTRUCTION MANUAL

BEFORE OPERATING THE GRIPPER.

• Get the up-to-date instruction manual (PDF or web browser).

• Get the corresponding Robotiq_Grippers-X.X.X.urcap.

• Download the .urcap file on a USB stick.

• Have a USB stick that contains the .urcap file (step 3).

• Insert the USB stick in the robot’s teach pendant.

• Tap Setup Robot and then URCaps.

• Tap the +sign.

• Open Robotiq_Grippers-X.X.X.urcap.

• Tap the Restart button to activate the URCap.

• The Gripper toolbar button will display a short time after

the installation of the software is completed.

• Mount the coupling (GRP-CPL-062) on your robot arm.

Align with the provided dowel pin.

• Secure using the provided M6 screws and tooth lock

washers.

• Mount the Gripper (HND-GRP) on the coupling. Align

with the dowel pin.

• Secure using the provided M5 screws and tooth lock

washers.

• Plug the device cable (CBL-COM-2065-10-HF) into the

Gripper’s pigtail cable and attach the cable along the

robot arm using a cable routing system.

THANK YOU FOR

CHOOSING ROBOTIQ

LEAVE ENOUGH EXCESS CABLE TO ALLOW

FULL ROBOT MOVEMENT.

4 mm

Hex Key

2 mm

Slotted Screwdriver

(not included)

(CBL-COM-2065-10-HF)

(Gripper)

(M5 screws

and washers)

(M6 screws

and washers)

(Gripper coupling)

(Dowel pin)

CAREFUL !

FRAGILE PINS

485+

485-

485 GND

(1)

(2)

(3)

WHITE

Pin Signal Name

485 + (A)

SHIELD

CBL-COM-2065-10-HF

High-Flex Device Cable

GREEN

485 GND

485 - (B)

The red (24V) and black (0V) wires of the device

cable provide power to the gripper.

•

Connect the red wire to a 24V pin.

•

Connect the black wire to a 0V pin.

Power

PWR

GND

24V

CI0

24V

CI1

CI3

24V

CI2

24V

CI4

24V

CI5

CI7

24V

CI6

24V

CO0

CO1

CO3

CO2

CO4

CO5

CO7

CO6

•

Connect the USB converter in the robot controller.

•

Connect communication wires to the USB converter.

[email protected]

T: 1.418.380.2788 option 3

November 2021

X-990038-C

HAND-E

QUICK START GUIDE

support.robotiq.com

8. TEST AND JOG

THE GRIPPER

For installation on

CB-Series

Universal Robots

• Tap the Gripper button to expand the Gripper toolbar.

• Tap Activate to initialize the Gripper and access the

toolbar.

• Depending on the PolyScope settings used, the

Gripper position measurements can either display in

metric or imperial units.

• The Gripper toolbar allows you to jog and test the

Gripper. For more information, refer to the

instruction manual.

7. HOW TO CALIBRATE

THE GRIPPER

• From a robot program, go to the Installation tab and

select Gripper in the left pane.

• Tap the Calibration tab.

• Tap the Calibrate button next to the Gripper icon to

start the Calibration wizard.

• The wizard prompts the user to fully close the Gripper,

regardless of the type of fingers/fingertips used.

• Measure the distance between the fingers/fingertips

and enter the measurement in the appropriate box.

• Tap the Continue button.

• The user is then asked to fully open the Gripper.

• Measure the distance between the

fingers/fingertips and enter the measurement in the

appropriate box.

• Tap the Continue button to complete the

Calibration wizard.

9. USE NODES TO PROGRAM

WITH THE GRIPPER

Gripper Node

• From your robot program, go to the Structure tab.

• Go to the URCaps tab.

• Tap the Gripper button.

• Go to the Command tab to edit your Gripper’s action.

Grip Check Node

• From your robot program, go to the Structure tab.

• Go to the URCaps tab.

• Tap the Grip Check button.

• Go to the Command tab to edit the node.

• Select a condition (If object is detected vs. If object is

not detected).

• If applicable, enter the object dimension for validation.

Lorem ipsum

elearning.robotiq.com

X-990038-C

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