ROBOTIQ 2-Finger 140, Instruction Manual

Page: 21 / 127

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 21
3.5 Electrical setup
Power and communication are established with the 2-Finger Adaptive Robot Gripper via a single Device Cable. The Device Cable provides a 24V power
supply to the Gripper and enables serial RS-485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the
Gripper and the network / robot controller if fieldbus communication is required.
If a Robotiq Universal Controller is used, please consult the
Robotiq Universal Controller manual . Figure 3.5.1 below represents the wiring schematic of the
2-Finger with device cable, power supply, fuse (see ) and grounding. Section 3.2
Figure 3.5.1 : Robotiq 2-Finger with pigtail cable and device cable wiring schematic.
Gripper grounding is optional and is done via the robot ground. The coupling indexing pin (dowel) is the ground connector. Gripper coupling, chassis and
proximal phalanx are linked as illustrated in Figure 3.5.2. They link through the coupling indexing pin to the robot ground. Proximal bars, distal phalanx,
fingertip base and fingertips are isolated.
Note
RS-485 signals (A, B and GND) are isolated from the main 24 V power supply. 4 GND can be connected to any other ground reference as long as
the voltage potential between the grounds does not exceed 250 V. Grounding reference is at the user's discretion.