NEW! Wrist Connect Kits for UR CB Series

Catherine_Bernier

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!

Jstewart

How do you control the gripper once attached and URCap is downloaded?

Yannik_Methot

Hi Jake, 

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%*

*To enable the object lost detection
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.

lawrence

Hi can i have more then 1 IO coupling attach to 1 UR robot?

Catherine_Bernier

lawrence said:

Hi can i have more then 1 IO coupling attach to 1 UR robot?

Hi Lawrence,

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!

wileydavis

Will this work with a CB robot and the previous generation 2F gripper?

Catherine_Bernier

wileydavis said:

Will this work with a CB robot and the previous generation 2F gripper?

Hi Wiley,

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!

lawrence

@Catherine_Bernier, yes for dual gripper setup. Possible?

Catherine_Bernier

@lawrence, It is not possible at the moment. You would need the couplings with cable.

lawrence

Thanks for the info.

DBookless

Catherine_Bernier said:

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.

I'm working with a CB2 robot (so only PolyScope 1.8), so the URCap wouldn't be an option for me. However I'm guessing the limitation to four presets means it's just controlled by setting the two digital outputs on the tool I/O to binary 0, 1, 2 or 3, which could be reproduced fairly easily without any extra URCap or driver.

Is this right? Would it be possible to do something like this and use the coupling without the URCap?

Yannik_Methot

Hi @DBookless, It would indeed be possible to do so. You may even use a grip detect as the gripper will send a signal in the Tool input. 

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,

DBookless

Thanks, especially for the quick response. That's very helpful.

DBookless

On the off-chance there anybody else wanting to do this with a CB2, I've posted my scripts for this here:
https://github.com/DarnBless/robotiq-gripper-cb2-scripts

Bobbypointe

Hi,
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

mathieu_theriault

Hi @Bobbypointe I have created a ticket for you to answer your question. You should receive an email shortly.