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

Etienne_Samson · April 2016

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

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

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

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.