Discussion
NEW! Wrist Connect Kits for UR CB Series |
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Answered | |
/ Most recent by mathieu_theriault |
15 comments |

Hello Pros,
As you know, connectivity problems come in as the top cause of unexpected downtime. Cable management is a serious problem when using a UR CB Series cobot, and Robotiq now offers an alternative.
The new I/O coupling allows you use Robotiq grippers (2F, Hand-E, EPick and AirPick) without running a cable along the cobot arm. As such, I/O couplings are now sold bundled with grippers in Wrist Connect Kits for CB Series cobots. Those kits can be purchased directly through your local distributor.
The I/O coupling for UR CB Series is compatible with 5 Robotiq grippers,
and lets you do away with cable clutter.
For more details on those new Robotiq kits, get in touch with your local distributor. If you have any questions, please let us know on this forum!
The gripper is controlled by 4 presets saved inside the gripper's coupling which are by default:
Preset 1
Preset 2
Preset 3
Preset 4
Position
100%
0%
100%
0%
Speed
100%
100%
0%
0%
Force
100%
100%
1%*
1%*
The presets can be changed to your tastes by connecting the gripper and the coupling to the Robotiq User Interface from a PC.
The gripper must be connected to the new I/O coupling that is not to be confused with the previous e-series coupling that is similar but only works on e-series UR robots.
No because there is only 2 inputs and 2 outputs that the I/O Coupling is using completely.
What would be the use of having 2 coupling? Dual gripper setup?
Thanks!
[email protected]
https://www.linkedin.com/in/catherinebernier
It is made for UR CB robots. The robot's PolyScope version must be 3.10 and later in order to install the URCap.
The gripper firmware needs to be GC3-1.6.8 or latest.
Thanks!
[email protected]
https://www.linkedin.com/in/catherinebernier
[email protected]
https://www.linkedin.com/in/catherinebernier
Is this right? Would it be possible to do something like this and use the coupling without the URCap?
Value of digital inputs (Respectively byte 0 and 1): 00 = Not Ready (also when not activated)
11 = Gripper Ready
01 = Object detected
You will also have to activate the gripper upon power up to initiate the communication with the I/O coupling. To do so, you may follow this activation sequence also found in section 4.8 of the Hand-E instruction manual (will also work with other gripper models):
Hope this helps,
https://github.com/DarnBless/robotiq-gripper-cb2-scripts
I will work with I/O Coupling On Omron TM Robots.
I can't find the precise I/O explanation about the I/O Coupling in the documentation.
Are they PNP, NPN?
What are the Min/Max value for detection?
What is the link in between Input and action?
What is the status, sent back on the outputs?
oups, It is a UR-CB serie post, I will create another general question !
Thanks