3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper.

• The Scope of Delivery section
• The Required Tools and Equipment section
• The Environmental and Operating Conditions section
• The Mechanical Installation section
• The Electrical Setup section
• The Testing the Gripper with the Robotiq User Interface (RUI) section.

3.1. Scope of Delivery

3.1.1. General Kit

A gripper Kit generally includes these items:

• Robotiq 2-Finger Adaptive Gripper
• Coupling
• Robotiq device cable
• Screw Kit
• USB to RS485 signal converter

Fig. 3-1: Schema of the required hardware.

Depending on the robot, an adapter plate might be available. Refer to the Couplings section in the Specifications section

Depending on the communication protocol available, the user might need an additional signal converter such as a USB to RS232 converter, for serial ports, or a Robotiq Universal Controller for ethernet based communication. The Universal Controller supports:

• Ethernet/IP
• Modbus TCP
• EtherCAT
• PROFINET
• DeviceNet
• CANopen
• Profibus

3.2. Required Tools and Equipment

The following tools are required to install the 2-Finger Adaptive Gripper:

• 4 mm hex key to mount the Gripper onto its coupling.
• Metric hex key according to your coupling to mount the coupling onto the robot.

Optional tools if installing finger kits: AGC-FIN-KIT-085 or AGC-FIN-KIT-140:

• 2 mm hex key

Optional tools if installing other fingertips: AGC-TIP-204-085, AGC-TIP-205-085, AGC-TIP-420-140, AGC-TIP-420-140

• 4 mm hex key

The following parts are required for setup :

• Power supply (see below).
• Fuse (if applicable), see information below.
• Emergency stop is not provided, but its use is strongly advised.

The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. Required power supply must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the Gripper and the optional Robotiq Controller.

Table 3-1: 2-Finger power supply requirements.

Robotiq recommends the use of the following power supplies:

• For the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply: DPP30-24.

3.3. Environmental and Operating Conditions

Table 3-2: Environmental and operating conditions of the 2-Finger Adaptive Gripper

3.4. Mechanical Installation

3.4.1. Installing fingers on the Gripper

Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers. Refer to the figure below for finger placement. To do so :

1. Align fingers with chassis axes. To do so, the slot on the finger bar should be aligned correctly with the corresponding chassis axis.
2. Insert the finger shaft in the finger bar bracket hole and through the chassis axis (top hole is for parallel locking while bottom hole is for finger installation)..
3. Apply medium strength threadlocker on the provided screws, align the finger bar and fasten to the chassis/chassis axis.

Fig. 3-2: 2-Finger Adaptive Gripper installation.

3.4.2. Installing the fingertips on the Gripper

Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so:

1. Align the fingertip indexing pins with the finger dowel holes.
2. Insert the M5 X 10 low head cap screws and screw on after applying low strength threadlocker.

Fig. 3-3: Installing the fingertips on the Gripper

3.4.3. Installing a Protector Kit on the Gripper Fingers

An optional protector kit (AGC-PRO-KIT-V4) can be ordred to cover the fingers of the 2F-85 and therefore protect users and assets against pinch points.

You can install them using eight (8) M3 screws.

Fig. 3-4: Protector Kit Installation

3.4.4. Installing the Gripper onto the robot

3.4.4.1. Single Gripper

You must use a coupling to attach the Gripper to the robot. Be sure to use the coupling related to your robot model. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your own coupling or adapter plate you can refer to the Coupling section. To see the details of the available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section.

Here are the steps to follow to mount the Gripper to your robot (exploded view in the figure below). Note that all screws must be locked in place using medium strength threadlocker.

1. Screw the adapter plate or the coupling to the robot (if adapter plate is required).
2. Screw the coupling to the adapter plate (if applicable).
3. Screw the Gripper onto its coupling.

Fig. 3-5: Installing the Gripper to a robot using an adapter plate and coupling.

3.4.4.2. Multiple Grippers

When installing multiple grippers on one robot, every gripper must have its own coupling.

1. Install a mounting plate (not provided) first on the robot arm (AGC-APL-159-02).
2. Mount the gripper couplings on the mounting plate using the provided M6 X 10 mm screws.
3. Mount the grippers onto their coupling using the provided M5 X 35 mm screws.

Fig. 3-6: Exploded View of a Dual Gripper Setup

3.5. Electrical Setup

Power and communication are established with the 2-Finger Adaptive Robot Gripper via a single Device Cable. The Device Cable provides a 24V power supply to the Gripper and enables serial RS485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the Gripper and the network / robot controller if fieldbus communication is required.

Gripper grounding is optional and is done via the robot ground. The coupling indexing pin (dowel) is the ground connector. Gripper coupling, chassis and proximal phalanx are linked as illustrated in the figure below. They link through the coupling indexing pin to the robot ground. Proximal bars, distal phalanx, fingertip base and fingertips are isolated.

Fig. 3-7: Robotiq 2-Finger electrical isolation / grounding.

3.5.1. Pinout Interface

The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface.

3.5.2. Coupling to controller

If a Robotiq Universal Controller is used, please refer to the Robotiq Universal Controller manual. The figure below represents the wiring schematic of the 2-Finger with device cable, power supply, fuse (please refer to the Required Tools and Equipment section) and grounding.

Fig. 3-8: Robotiq 2-Finger with pigtail cable and device cable wiring schematic.

The figure below represents the 2-Finger pigtail connector from the coupling (AGC‑CPL‑XXX), device cable - robot side (CBL‑COM‑2065‑XX) and their associated pinout.

Fig. 3-9: Pinout of the 2-Finger pigtail and device cable.

If additional cable is used, suggested cable specifications are as follows:

Power supply, fusing:

• minimum #22 AWG TEW, 300 V or 600 V

RS485 signals :

• minimum #24 AWG TEW, 300 V or 600 V
• A and B signals must be balanced at 120 Ohms

3.5.2.1. Single Gripper

Prior to any software installation or communication setup on the robot, connect the white, green, and bare wires to the proper signal converter required (RS485-USB, RS85-RS232, Robotiq Universal Controller). Also connect the red (24V) and black (0V) wires to the power supply.

Fig. 3-10: 2-Finger Adaptive Robot Gripper wiring to signal converter

For connection on the Robotiq Universal Controller, please refer to the Robotiq Universal Controller Manual.

3.5.2.2. Multiple Grippers

It is possible for some robots to communicate with more than one gripper at once by having grippers with different IDs. It requires a M12 splitter which is used to split the signal into two different grippers. Use the M12 splitter (AGC-SPLIT-M12-2:1) to connect the two grippers to the 10m cable (CBL-COM-2065-10-HF) which gets connected to the appropriate signal converter.

Fig. 3-11: Multiple grippers wiring

3.6. Testing the Gripper with the Robotiq User Interface (RUI)

Once installed and properly secured, your Robotiq 2-Finger Adaptive Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. To do so:

1. Go to support.robotiq.com
   1. Select the brand of your robot
   2. Select 2F-85 and 2F-140 Grippers
   3. Click on Software tab
   4. Click on Robotiq User Interface
   5. Click Download.
2. Follow the instructions to install the Robotiq User Interface.
3. Use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (see the schematic in the figure below) to plug into a PC with the Robotiq User Interface installed.
4. Power up your Gripper with the previously recommended power supply.
5. Execute the R.U.I. software and select ''auto-connect'' on the connection screen.
6. You are now connected to your Gripper, you can click "activate" to begin using the Gripper.

Fig. 3-12: RS-485 to USB converter ACC-ADT-USB-RS485 pinout.

Fig. 3-13: Wiring of the USB to RS-485 converter.

The following sections present the information regarding the proper plugin management through the system.

1. Download the plugin at the root of the USB stick
2. Insert the USB stick in the teach pendant or controller
3. In the left pane, select Management
4. Tap on Plugin Management tab
5. Tap the Add button to launch the file explorer. Then, the external and internal storage paths are displayed

Fig. 3-14: Plugin management menu with Add button highlighted.

6. Select the plugin you want to install and click the OK button

Fig. 3-15: Selection of the plugin with the OK button highlighted.

7. To get back to normal operations, restart the system.

Fig. 3-16: View of the installed plugin with the Restart button highlighted.

1. In the Plugin Management menu, select the plugin you want to delete and press the Delete button.

Fig. 3-17: Plugin Management menu with check box and Delete button highlighted.

2. For normal plugin deletion, restart your system. Use the same procedure indicated in the Plug-In Installation section.