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xuweixuwei Posts: 15Partner Apprentice

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  • David_GariepyDavid_Gariepy Posts: 169Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    edited February 2018
    @xuwei
    If you are talking about the Multiple Grippers wiring, the following information can be found in section 3.7 of the manual.

    Multiple Grippers wiring

    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.

    Figure 3.7.2: Multiple grippers wiring on Universal Robots.


    The section 3.8.1 cover the URCap installation and ID identification of the gripper 


    Finally the part number for the dual Gripper coupling is AGC-APL-159-002. If you need the STEP file of this coupling, it is available here.


    David Gariépy
    Integration Coach
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