How to install the 2-Finger Adaptive Gripper on a Universal Robots

Etienne_Samson

This how-to is intended for Robotiq 2-Finger (85 or 140) 3.X install on any UR using controller CB2 / CB3

What you need :

• Robotiq UR kit for 2-Finger (85 or 140 mm) (includes all cables and hardware)
• UR 3, 5 or 10 robot with controller CB2 or CB3
• Metric Allen key set (4 mm)
• 2 mm slotted screwdriver

How to do it :

Mechanical installation :

• Insert the provided 6 mm dowel pin into the UR wrist
  
• Mount the 2-Finger Gripper coupling on the UR wrist, fix with the provided M6 x 10 mm screws
• Mount the 2-Finger Gripper on it's coupling, first align the Gripper to the coupling dowel pin, then fix with the provided M5 x 35 mm screws

Electrical installation :

• Connect the Gripper pigtail cable to the provided device cable
• Pass your cable along the robot arm, make sure you have enough cable forgiveness to allow the UR to move freely in all directions. Attach with tie-wrap (or any cable holding system, may look better then tie-wraps...)
• Wire the RS-485 to USB converter and wire the power to the UR controller according to this schematic :
  
  

Software setup :

• Get the driver package for Robotiq Gripper at support.robotiq.com (look into each of the product section)
• Unzip the package on a USB stick, plug into the UR, install is automatic

See my other post on how to use the Gripper with the provided template on UR.

Here is video showing the installation with a CB2 :

https://www.youtube.com/watch?v=oDlAzFtKLMc