ROBOTIQ UR-e Series UR Kit User Guide
- June 6, 2024
- ROBOTIQ
Table of Contents
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
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Tap the Installation button at the top of the screen.
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Tap the URCaps button in the navigation pane on the left.
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Select Gripper in the dropdown list.
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Go to the Dashboard tab.
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Check the Gripper is connected to the wrist checkbox.
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Tap the Scan button to locate any connected Gripper.
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Once the Gripper is located, tap the Activate button.
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Tap the UR+ button to expand the Gripper Toolbar.
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The Gripper toolbar allows you to jog and test the Gripper. For more information, refer to the instruction manual.
HOW TO CALIBRATE THE GRIPPER
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Go to the Installation tab, tap the URCaps menu on the left and select Gripper.
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Tap the Calibration tab.
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Tap the Calibrate button next to the Gripper icon to start the Calibration wizard.
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The wizard prompts the user to fully close the Gripper, regardless of the type of fingers/fingertips used.
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Measure the distance between the fingers/fingertips and enter the measurement in the appropriate box.
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Tap the Continue button.
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The user is then asked to fully open the Gripper.
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Measure the distance between the fingers/fingertips and enter the measurement in the appropriate box.
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Tap the Continue button to complete the Calibration wizard.
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Tap the UR+ button to expand the Gripper Toolbar.
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The Gripper position measurements can either be displayed in millimeters or inches, depending on the PolyScope settings used.
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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.
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June 2021 X-990036-B