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 (e-Series)

Standard upon delivery

• Robotiq Hand-E Basic Gripper Unit: HND-GRP-001
  • Hand-E Aluminum Finger Kit
  • Wrist connection protector
  • Screw kit
• Coupling for connection to the robot wrist: GRP-ES-CPL-062

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.
• 3 mm hex key to install the wrist connection protector

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

3.3. Environmental and Operating Conditions

Table 3-1: 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

You must use a coupling to attach the Gripper to the robot.

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

1. Mount the coupling on the robot wrist; align properly with the dowel pin
2. Fasten the Gripper to the coupling
3. Cover the connector by installing the wrist connection protector

Fig. 3-3: Installing the Gripper onto the robot wrist

3.4.2.2. Multiple Grippers

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

1. Fasten the M8 splitter (ACC-SPLIT-M8-2:1) to the dual gripper adapter plate (AGC-APL-159-002)
   1. Make sure the splitter is fastened on the side of the adapter plate that receives the dowel pin

Fig. 3-4: Fastening the splitter to the dual gripper adapter plate

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

Fig. 3-5: Dual Hand-E Gripper on e-Series

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

3.5.3. Coupling to wrist

3.5.3.1. Single Gripper

The figure below represents the wiring schematic of Hand-E with a coupling connecting directly to the robot wrist.

Fig. 3-6: Robotiq Hand-E with device cable wiring scheme

Fig. 3-7: Pinout of the 2-Finger cable-to-wrist coupling

3.5.3.2. Multiple Grippers

3.6. 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 3-2: Compatibility between Robotiq software and robot controller

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

3.7. 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.

3.7.1. Installing URCap Package

3.7.1.1. 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:

Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Gripper's URCap package. Go to support.robotiq.com and click on the Hand-E product page. Download the corresponding URCap and extract it on the root of a blank USB stick. Insert the USB stick in the UR teach pendant or controller. On the teach pendant, tap the triple bar icon in the upper right corner of the screen. Tap Settings.

Tap the System button in the navigation pane on the left. Select URCaps in the dropdown list. Press the plus (+) button to look for the .urcap file in the available drives. Once the file is selected, it will display in the Active URCaps box, next to a rounded arrow. Tap the Restart button to activate the URCap.

3.7.1.2. Multiple Grippers

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

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.

3.7.2. Uninstalling URCap Package

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

	On the teach pendant, tap the triple bar icon in the upper right corner of the screen. Tap Settings.
	Tap the System button in the navigation pane on the left. Select URCaps in the dropown list. Select the URCap to uninstall. Press the minus (-) button to remove the URCap. Tap the Restart button to deactivate the URCap.

3.7.3. 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.

1. Definition.
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