ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
1
On the teach pendant, tap the Installation button.
2
Select URCaps in the navigation pane on the left.
3
Tap the Gripper button.
4
Select the Dashboard tab.
5
If the Gripper is connected to the robot wrist (and not to the robot controller or via a Robotiq Wrist Camera) tick the " Gripper
cable is connected to the wrist box.
6
If no Gripper is found, tap the Scan button to detect any Gripper that might be connected to the robot
7
Tap the Activate/ Reactivate button.
8
In order to display the Gripper Toolbar in the UR+ menu in the top ribbon of PolyScope, tick the Show Gripper Toolbar box.
9
In order to prevent overcurrent conditions (for instance when grasping soft objects or using multiple Grippers at the same time),
tick the Limit gripper current box.
a
Limits the current at 600 mA for a single Gripper
b
Limits the current at 450 mA for each Gripper connected in a multiple Gripper configuration
Info
The default Gripper ID allocated to the first device connected is 1.
Fig. 4-2: Gripper ID modification in the Gripper Dashboard
Info
The E-Open and E-Close buttons allow the user to open and close the Gripper even if the latter is not activated.
These emergency commands use very low speed and force settings.
Multiple Grippers
Info
The URCap allows the user to connect and control up to 4 Grippers at the same time.
Features
Icon Functionality Name Description
Dashboard After selecting Gripper in the left pane of the
Installation tab, tap this button to access the Gripper
Dashboard.
Activate/ Reactivate The Activate and Reactivate buttons enables the
corresponding Gripper.
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