2F-85 & 2F-140 - Instruction Manual
1.4.Setup and control
The gripper is powered and controlled directly via a single device cable that carries a 24V DC supply and Modbus RTU
communication over RS-485. Refer to the Electrical Setup section for wiring information and the Control section for control of the
gripper (varioussoftware packages are available for control via variousrobot controllers).
A gripper coupling isrequired for using 2-Finger, the coupling will provide mechanical and electrical connectivity. Please refer to
the Mechanical Installation section for installation of the coupling, to the Specificationssection for technical drawings, and to the
Spare Parts, Kitsand Accessoriessection for available couplings.
The 2-Finger has an embedded object detection feature using indirect sensing methods. When picking an object via the "go to"
command, the gripper status will allow you to know if an object is picked or not via a simple object detection bit (0 or 1). When an
object is detected, the gripper will stop. If the object isbeing dropped, the gripper will automatically close to keep the object until
the object is detected or until the position target from the ''go to'' command is reached. For details on object detection, see
Control section.
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