3-Finger Adaptive Robot Gripper Instruction Manual
Table of Contents
Table of Contents
2
Revisions
4
1. General Presentation
6
2. Safety
11
2.1 Warning
12
2.2 Intended Use
13
3. Installation
14
3.1 Scope of delivery
14
3.2 Environmental and operating conditions
14
3.3 Mechanical connections
15
3.4 Power supply specifications
15
3.5 Wiring
16
3.5.1 Power connection
17
3.5.2 Communication connection
18
3.6 Installation for Universal Robots
25
3.6.1 Communication
25
3.6.2 Configuring the IP address of the Gripper
25
3.6.3 Configuring the UR controller network
26
3.6.4 URCaps Package
26
3.6.5 Setting the Gripper's IP address in the UR controller
28
3.7 License Agreement
29
4. Control
31
4.1 Overview
31
4.2 Status LEDs
32
4.2.1 Supply LED
32
4.2.2 Communication LED
32
4.2.3 Fault LED
33
4.3 Gripper register mapping
33
4.4 Robot output registers & functionalities
34
4.5 Robot input registers & status
38
4.6 Control logic - example
42
4.7 MODBUS RTU communication protocol
43
4.7.1 Connection setup
43
4.7.2 Read holding registers (FC03)
43
4.7.3 Preset single register (FC06)
44
4.7.4 Preset multiple registers (FC16)
45
4.7.5 Master read&write multiple registers (FC23)
45
4.7.6 Modbus RTU example
46
4.8 MODBUS TCP communication protocol
52
4.8.1 Connection Setup
52
4.8.2 Read Input Registers (FC04)
53
4.8.3 Preset Multiple Registers (FC16)
54
©Robotiq inc. 2008-2018
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