3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq Hand-E Gripper.

3.1. Scope of Delivery

3.1.1. Robotiq Hand-E TM Kit

3.1.2. Robotiq Hand-E OMRON TM Series Kit

3.1.3. Robotiq Hand-E Gripper UR Kit

Standard upon delivery

• Robotiq Hand-E Basic Gripper Unit: HND-GRP-001
  • Hand-E Aluminum Finger Kit
  • Screw kit
• USB to RS485 signal converter: ACC-ADT-USB-RS485
• Coupling for connection to the robot controller: GRP-CPL-062

• Robotiq device cable: CBL-COM-1065-10-HF

3.2. Required Tools and Equipment

The following tools are required to install the Hand-E 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 fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-RUB-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT

• 2,5 mm hex key

The following parts are required for setup :

• Power supply (see below).
• Fuse, 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: Hand-E 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 Hand-E Gripper.

3.4. Mechanical Installation

3.4.1. Installing the fingers/fingertips/holders on the Gripper

The figures below list the material and tools needed to mount fingers or fingertips/holders onto the racks of the Hand-E Gripper.

Fig. 3-1: Mounting the fingers on the racks

Fig. 3-2: Mounting fingertips on holders (and then on the racks)

3.4.2. Installing the Gripper onto the robot

3.4.2.1. Single Gripper

Use a coupling to attach the Gripper to the robot. Be sure to use the appropriate coupling for your robot model. If there is no coupling for your robot, you can process 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 and/or adapter plate you can refer to the Couplings 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 (see 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.
2. Screw the coupling to the adapter plate (if applicable).
3. Screw the Gripper onto its coupling.

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

3.4.2.2. Multiple Grippers

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

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

Fig. 3-4: Dual Hand-E Gripper Configuration

3.5. Electrical Setup

Power and communication are established with the Hand-E 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.

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

An optional Robotiq Universal Controller may be used between the Gripper and the network/robot controller if fieldbus communication is required.

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

Fig. 3-5: Robotiq Hand-E with pigtail cable and device cable wiring scheme.

The figure below illustrates the Hand-E Gripper pigtail connector from the coupling (GRP-CPL-062 or AGC‑CPL‑XXX-002), the device cable on the robot side (CBL‑COM‑2065‑10-HF) and their associated pinout.

Table 3-3: Pinout of the Hand-E Gripper pigtail and device cable.

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

Power supply, fusing

• minimum #22 AWG TEW, 300 V or 600 V

RS485 signal

• 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 on Universal Robots, connect the white, blue and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller.

Fig. 3-6: Hand-E Gripper wiring to Universal Robots controller.

3.5.2.2. Multiple Grippers

It is possible to connect and control up to four grippers on the same UR robot. Only one USB to RS485 converter (ACC- ADT-USB-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable
(CBL-COM-2065-10-HF) that connects to the RS485 to RS232 converter.

Fig. 3-7: Multiple grippers wiring.

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

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

1. Follow the instructions to install the Robotiq User Interface, or RUI (refer to the instruction manual of the RUI)

   Use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (refer to the figure below) to plug into a PC with the Robotiq User Interface installed.

2. Power up your Gripper with the previously recommended power supply.
3. Execute the RUI software and select ''auto-connect'' on the connection screen.
4. You are now connected to your Gripper; you can click "activate" to begin using the Gripper.

Fig. 3-8: RS-485 to USB converter ACC-ADT-USB-RS485 pinout.

Fig. 3-9: Wiring possibilities of the USB to RS-485 converter.

3.7. Installation for Universal Robots

The table below shows which Robotiq software to use with your Universal Robots controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Hand-E Gripper URCaps Package.

Table 3-4: Compatibility between Robotiq software and robot controller

Refer to the URCap Package section for the installation of the UR software package for Hand-E.

3.8. URCap Package

Robotiq provides you with a Universal Robots URCap package that enables direct serial communication to your UR controller.

Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section).

The Gripper’s URCap package contains:

• The URCap for the Gripper;
• The Gripper toolbar;
• The Gripper node.

For details on controlling the Gripper, please refer to the Control section.

3.8.1. Installing URCap Package

3.8.1.1. Single Gripper

Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section).

Follow this procedure to install the Hand-E Gripper URCap package:

3.8.1.2. Multiple Grippers

It is possible to connect and control up to four grippers on the same UR robot.

Only one USB to RS485 converter (ACC- ADT-USB-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable (CBL-COM-2065-10-HF) that connects to the USB to RS485 converter.

Fig. 3-10: Wiring for multiple grippers.

When installing multiple grippers on one UR robot, their gripper ID must be set properly. To do so, perform the following steps for each Gripper.

3.8.2. Uninstalling URCap Package

If you wish to uninstall the Hand-E Gripper URCap, follow this procedure:

3.8.3. License Agreement

END-USER LICENSE AGREEMENT

YOU SHOULD CAREFULLY READ THE FOLLOWING AGREEMENT BEFORE USING THE Software (as this term is hereinafter defined). Using the Software indicates your acceptance of the agreement. If you do not agree with it, you are not authorized to use the Software.

IMPORTANT-READ CAREFULLY: This End-User License Agreement (the “Agreement”) is a legal agreement between you and the Licensor (as this term is hereinafter defined), the licensor of the Software. This Agreement covers the Software. The Software includes any “on-line” or electronic documentation and all modifications and upgrades related thereto. By installing, or otherwise using the Software, you agree to be bound by the terms of this Agreement. If you do not agree to the terms of this Agreement, the Licensor cannot and does not license the Software to you. In such event, you must not use or install the Software.

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