ROBOTIQ UR-e Series UR Kit User Guide

June 6, 2024
ROBOTIQ

QUICK START GUIDE
For installation on e-Series
Universal Robots

THANK YOU FOR CHOOSING ROBOTIC
This step-by-step guide will allow you to install and use your Hand-E Gripper on e-Series Universal Robots.

WHAT IS SUPPLIED?

Standard upon delivery of a Universal Robots kit:

Hand-E………………………….(HND-GRP)
Gripper Coupling……………………………………(GRP-ES-CPL-062)
Fingertip Starting Kit……………………………………….. (HND-TIP-START-KIT)
Connection Protector Kit………………………(GRP-ES-CPL-PRO)

TOOLS YOU NEED

GET THE LATEST

Visit: support.robotiq.com

  • 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.

PLEASE READ THE INSTRUCTION MANUAL BEFORE OPERATING THE GRIPPER.

MOUNTING

  • Mount the coupling (GRP-ES-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 coupling cable in the robot’s wrist connector.
  • Cover the connection using the protector and the provided M4 screws.

Select the connection protector corresponding to your robot model in the GRP- ES-CPL-PRO kit.

SOFTWARE INSTALLATION

  • Have a USB stick that contains the .urcap file (step 3).
  • Insert the USB stick in the robot’s teach pendant.
  • Tap the triple bar icon in the upper right corner and select the System menu on the left.
  • Tap the URCaps submenu and then tap the + sign at the bottom of the screen.
  • Open Robotiq_Grippers-X.X.X.urcap.
  • Tap the Restart button to activate the URCap

ACTIVATE THE GRIPPER

Gripper Activate Node

  • Tap the Installation button at the top of the screen.

  • Tap the URCaps button in the navigation pane on the left.

  • Select Gripper in the dropdown list.

  • Go to the Dashboard tab.

  • Check the Gripper is connected to the wrist checkbox.

  • Tap the Scan button to locate any connected Gripper.

  • Once the Gripper is located, tap the Activate button.

  • Tap the UR+ button to expand the Gripper Toolbar.

  • The Gripper toolbar allows you to jog and test the Gripper. For more information, refer to the instruction manual.

HOW TO CALIBRATE THE GRIPPER

  • Go to the Installation tab, tap the URCaps menu on the left and select Gripper.

  • 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.

  • Tap the UR+ button to expand the Gripper Toolbar.

  • The Gripper position measurements can either be displayed in millimeters or inches, depending on the PolyScope settings used.

  • Depending on the PolyScope settings used, the Gripper position measurements can either be displayed in metric or imperial units.

8. USE NODES TO PROGRAM WITH THE GRIPPER
Gripper Node

  • Tap the Program button at the top of the screen.
  • Tap the URCaps button in the navigation pane on the left.
  • Select Gripper in the dropdown list.
  • Go to the Command tab to edit your Gripper’s action.

Grip Check Node

  • Tap the Program button at the top of the screen.
  • Tap the URCaps button in the navigation pane on the left.
  • Select Grip Check in the dropdown list.
  • Go to the Command tab to edit the node.
  • Select a condition (If the object is detected vs. If the object is not detected).
  • If applicable, enter the object dimension for validation.

elearning.robotiq.com
support.robotiq.com
support@robotiq.com
T: 1.418.380.2788 option 3
June 2021 X-990036-B

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