How to Install the Robotiq 2-Finger 85 Gripper and Force Torque Sensor FT 150 on Universal Robots

Etienne_Samson

This how-to is intended for the Robotiq 2-Finger 85 3.X.X, the Robotiq FT-150 1.X and any UR using controller CB2 / CB3

You have a video that explain all the following below

What you need :

• Robotiq UR combo kit for 2-Finger 85 / FT-150 (includes all cables and hardware)
• UR 3, 5 or 10 robot with controller CB2 or CB3
• Metric Allen key set (3, 4, 5 mm)
• 2 mm slotted screwdriver

How to do it :

Mechanical installation :

• Insert the provided 6 mm dowel pin into the UR wrist
  
• Mount the FT-150 adapter plate on the UR wrist, fix with the provided M6 x 10 mm screws
• Mount the FT-150 on the adapter plate, fix with the provided M4 x 35 mm screws
• Insert the provided 6 mm dowel pin into the FT-150 tool side flange
• Mount the 2-Finger 85 coupling on the FT 150 tool side flange, fix with the provided M4 x 10 mm screws
• Mount the 2-Finger 85 on it's coupling, fix with the provided M5 x 35 mm screws

Electrical installation :

• Connect the 2-Finger 85 pigtail cable to the device cable (straight one)
• Connect the FT-150 connector to the device cable (angled one)
• 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...)
• For both cables, wire the RS-485 to USB converter and wire the power to the UR controller according to this schematic :
• Note : USB converters will be plugged into a single USB hub splitter 

Software setup :

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

You are now ready to program ! I'll do another post concerning the template program for both Gripper and Sensor together.

DBarton

Is it still possible to install the new ft-300s on a cb2 robot?