ROBOTIQ ETF-CB-UR-KIT, Manual

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1. Revisions 6
1. General Presentation 7
1.1. Robotiq Hand-E Gripper 7
1.1.1. Gripper nomenclature 7
1.1.2. Object picking 9
1.1.3. Setup and Control 9
1.2. Robotiq Finishing Copilot software on e-Seriesrobots 10
1.3. Robotiq Force Torque Sensor on CB-Seriesrobots 10
2. Safety 13
2.1. Warning 13
2.1.1. Risk assessment and final application 14
2.1.2. Intended Use 14
For the Hand-E Gripper 14
For the Finishing Copilot software 14
3. Installation 15
3.1. Scope of delivery of the External Tool Finishing Kit for UR(ETF-ES-UR-KIT) 15
3.2. Required Toolsand Equipment 16
3.3. Environmental and Operating Conditions 16
Hand-E Gripper 16
FT Sensor for CB-Series robots 17
3.4. Mechanical Installation 17
3.4.1. Installing the fingers/ fingertips/ holders on the Hand-E Gripper 17
3.4.2. Installing the Hand-E Gripper onto e-Series robots 19
3.4.3. Installing the FT Sensor and the Hand-E onto CB-Series robots 20
Step 1: Installation of the Robotiq Force Torque Sensor 20
Power Supply Specifications 21
Wiring 22
Wiring with USB to RS485 Converter 22
Step 2: Installation of the Hand-E Gripper onto the FT Sensor 23
3.4.4. Installation of the External Tool Finishing Kit URCap Package for e-Series 24
3.4.5. Uninstalling URCap Package 27
4. Software 29
External Tool Finishing Kit - Instruction Manual
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