Robotiq Ur-e Series Ur Kit User Guide (+ PDF)

QUICK START GUIDE
For installation on e-Series
Universal Robots

THANK YOU FOR CHOOSING ROBOTIC
This step-by-step guide will allow you to install and use your Hand-E Gripper on e-Series Universal Robots.

Contents hide

5 SOFTWARE INSTALLATION

6 ACTIVATE THE GRIPPER

7 HOW TO CALIBRATE THE GRIPPER

8 Documents / Resources

9 Related Posts

WHAT IS SUPPLIED?

Standard upon delivery of a Universal Robots kit:

Hand-E………………………….(HND-GRP)
Gripper Coupling……………………………………(GRP-ES-CPL-062)
Fingertip Starting Kit……………………………………….. (HND-TIP-START-KIT)
Connection Protector Kit………………………(GRP-ES-CPL-PRO)

TOOLS YOU NEED

GET THE LATEST

Visit: support.robotiq.com

Get the up-to-date instruction manual (PDF or web browser).
Get the corresponding Robotiq_Grippers-X.X.X.urcap.
Download the .urcap file on a USB stick.

PLEASE READ THE INSTRUCTION MANUAL BEFORE OPERATING THE GRIPPER.

MOUNTING

Mount the coupling (GRP-ES-CPL-062) on your robot arm. Align with the provided dowel pin.
Secure using the provided M6 screws and tooth lock washers.
Mount the Gripper (HND-GRP) on the coupling. Align with the dowel pin.
Secure using the provided M5 screws and tooth lock washers.
Plug the coupling cable in the robot’s wrist connector.
Cover the connection using the protector and the provided M4 screws.

Select the connection protector corresponding to your robot model in the GRP-ES-CPL-PRO kit.

SOFTWARE INSTALLATION

Have a USB stick that contains the .urcap file (step 3).
Insert the USB stick in the robot’s teach pendant.
Tap the triple bar icon in the upper right corner and select the System menu on the left.
Tap the URCaps submenu and then tap the + sign at the bottom of the screen.
Open Robotiq_Grippers-X.X.X.urcap.
Tap the Restart button to activate the URCap

ACTIVATE THE GRIPPER

Gripper Activate Node

Tap the Installation button at the top of the screen.
Tap the URCaps button in the navigation pane on the left.
Select Gripper in the dropdown list.
Go to the Dashboard tab.
Check the Gripper is connected to the wrist checkbox.
Tap the Scan button to locate any connected Gripper.
Once the Gripper is located, tap the Activate button.
Tap the UR+ button to expand the Gripper Toolbar.
The Gripper toolbar allows you to jog and test the Gripper. For more information, refer to the instruction manual.

HOW TO CALIBRATE THE GRIPPER

Go to the Installation tab, tap the URCaps menu on the left and select Gripper.
Tap the Calibration tab.
Tap the Calibrate button next to the Gripper icon to start the Calibration wizard.
The wizard prompts the user to fully close the Gripper, regardless of the type of fingers/fingertips used.
Measure the distance between the fingers/fingertips and enter the measurement in the appropriate box.
Tap the Continue button.
The user is then asked to fully open the Gripper.
Measure the distance between the fingers/fingertips and enter the measurement in the appropriate box.
Tap the Continue button to complete the Calibration wizard.
Tap the UR+ button to expand the Gripper Toolbar.
The Gripper position measurements can either be displayed in millimeters or inches, depending on the PolyScope settings used.
Depending on the PolyScope settings used, the Gripper position measurements can either be displayed in metric or imperial units.

8. USE NODES TO PROGRAM WITH THE GRIPPER
Gripper Node

Tap the Program button at the top of the screen.
Tap the URCaps button in the navigation pane on the left.
Select Gripper in the dropdown list.
Go to the Command tab to edit your Gripper’s action.

Grip Check Node

Tap the Program button at the top of the screen.
Tap the URCaps button in the navigation pane on the left.
Select Grip Check in the dropdown list.
Go to the Command tab to edit the node.
Select a condition (If the object is detected vs. If the object is not detected).
If applicable, enter the object dimension for validation.