ROBOTIQ 3-Finger Adaptive Robot Gripper, Instruction Manual

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3-Finger Adaptive Robot Gripper Instruction Manual
4.8.4 Modbus TCP example 54
4.8.5 Application with Universal Robots 61
4.9 Control over Universal Robots with URCaps 63
4.9.1 3F Gripper Activate node 63
4.9.2 3F Gripper Move node 63
Features 64
4.9.3 3F Object Detected node 64
4.9.4 Script functions 65
4.10 Control over ROS 66
5. User Interface 67
6. Specifications 68
6.1 Technical dimensions 68
6.2 Mechanical specifications 69
6.3 Design and customization 72
6.3.1 Finger pad replacement and customization 72
6.3.2 Palm pad replacement and customization 74
6.3.3 Fingertip replacement and customization 76
6.4 Moment of inertia and center of mass 78
6.5 Electrical ratings 79
6.6 Couplings 80
6.6.1 Blank coupling 80
6.6.2 Yaskawa SDA-5D_10D coupling 81
6.6.3 Dimensions for custom coupling 82
7. Maintenance 83
7.1 Gripper Cleaning 84
7.2 Applying Grease 85
7.3 Periodic Inspection 86
7.4 Finger Pad Replacement 87
7.5 Gripper Palm Replacement 88
7.6 Fingertip Replacement 89
7.7 Gear replacement 90
7.8 Overhaul 91
8. Spare Parts, Kits and Accessories 92
9. Troubleshooting 95
10. Warranty 97
11. Contact 98
EC Declaration of Conformity 99
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