ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
3.4.3. (optional) Assembling Fingertips Extender and Fingers on a Hand-E Gripper
Note
Only fingers made for the 2F-85 adaptive gripper are compatible with the Fingertips Extender.
Fig. 3-3: Exploded view of Hand-E with Fingertips Extender and two 2F-85 V-groove fingers.
1. Remove both M3 screws securing a Hand-E finger to the gripper rack, using a 2.5mm hex key.
2. Insert two dowel pins under the finger you wish two mount on the Fingertips Extender.
3. Insert the finger on the outside end of the Fingertips Extender, and secure it with screws that fit the finger you are installing, using
the applicable hex key. Align finger using its two dowel pins.
4. Insert two dowel pins under the Fingertips Extender.
5. Secure the Fingertips Extender on a gripper rack with M3 screws, using a 2.5mm hex key. Align Fingertips Extender using its two
dowel pins.
6. Repeat procedure to install the second Fingertips Extender on the gripper rack, then install the second finger on the Fingertips
Extender.
3.5. Software Installation
3.5.1. Installing URCap files
Robotiq provides you with Universal Robots URCap packages that enable direct serial communication with your robot controller. To
operate the CNC Machine Tending Kit to its full potential, install required URCap files for your Hand-E grippers, for your Force Torque
Sensor, and optionally, for your Wrist Camera.
To download URCap packages for your Universal Robots controller, go to robotiq.com/ support. To ensure compatibility between your
Teach Pendant PolyScope and the Machine Tending Copilot URCap, please use the latest PolyScope version.
Prior to installing any URCap on your Teach Pendant, make sure that all devices have been mounted on the robot arm. For more
details, read section Mechanical Installation, and confirm that your robot controller is compatible with the URCap version. The Teach
Pendant PolyScope version must be 3.7 or later to install the Robotiqgripper URCap, or 3.9 and later to install the Wrist Camera
URCap.
Caution
To check your PolyScope version, tap and select About .
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