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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!


Catherine Bernier, Jr. Eng. 

Comments

  • JstewartJstewart Posts: 39 Apprentice
    How do you control the gripper once attached and URCap is downloaded?
  • Yannik_MethotYannik_Methot Posts: 21 Handy
    edited July 2019
    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.
  • lawrencelawrence Partner Posts: 12 Apprentice
    Hi can i have more then 1 IO coupling attach to 1 UR robot?
  • Catherine_BernierCatherine_Bernier Posts: 144 Crew
    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!

    Catherine Bernier, Jr. Eng. 
  • wileydaviswileydavis Posts: 11 Apprentice
    Will this work with a CB robot and the previous generation 2F gripper?
  • Catherine_BernierCatherine_Bernier Posts: 144 Crew
    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!

    Catherine Bernier, Jr. Eng. 
  • lawrencelawrence Partner Posts: 12 Apprentice
    @Catherine_Bernier, yes for dual gripper setup. Possible?
  • Catherine_BernierCatherine_Bernier Posts: 144 Crew
    @lawrence, It is not possible at the moment. You would need the couplings with cable.


    Catherine Bernier, Jr. Eng. 
  • lawrencelawrence Partner Posts: 12 Apprentice
    Thanks for the info.
  • DBooklessDBookless Posts: 3 Recruit
    edited January 10
    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_MethotYannik_Methot Posts: 21 Handy
    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,
  • DBooklessDBookless Posts: 3 Recruit
    Thanks, especially for the quick response. That's very helpful.
  • DBooklessDBookless Posts: 3 Recruit
    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
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