Link the Universal Robots' e-stop to the Gripper's power supply

Annick_Mottard

Hi Pros,

I wanted to share with you how to configure Robotiq's 2-Finger Gripper on a UR so that it loses its power when the e-stop button is pressed. Here is how I do it: 

• Instead of connecting the 2-Finger Gripper's red wire to a 24V pin, I connect it to a configurable output. In this example, I connected it to configurable output 0 (CO0). 
• I connect the rest of the wires as described in the instruction manual. 

• On the UR teach pendant, open a Robot program and go in the Installation tab. Click on Safety and enter the password, if required. 
• From the Safety I/O tab, change the function assignment of the configurable output you connected the red wire to. Change it to System Emergency Stopped. In the example, I changed CO0 and CO1. 

Performing this will cut power to the gripper when the robot's e-stop button is pressed. When it is restored, the gripper will get power back again. Remember that you will need to activate the gripper since it lost power. 

If you would like to know more on how to integrate a gripper in a collaborative robot cell, make sure you check out this eBook.