ROBOTIQ 2F-140 - Table of Contents

Table of Contents
Revisions 4
1. General Presentation 8
1.1. Gripper nomenclature 9
1.2. 2F-85 vs. 2F-140 10
1.3. Object picking 11
1.4. Setup and control 14
2. Safety 15
2.1. Warning 16
2.2. Intended Use 16
3. Installation 17
3.1. Scope of Delivery 18
3.2. Required Toolsand Equipment 19
3.3. Environmental and Operating Conditions 21
3.4. Mechanical Installation 21
3.5. Electrical Setup 31
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 36
3.7. Installation for Universal Robots 37
3.8. URCap Package 38
4. Control 47
4.1. Overview 47
4.2. Gripper Register Mapping 49
4.3. Robot Output Registers& Functionalities 50
4.4. Robot Input Registers& Status 54
4.5. Picking Features 58
4.6. Control LogicExample 65
4.7. ModbusRTU Communication 66
4.8. 2F-85 & 2F-140 Gripper and I/O Coupling communication 81
4.9. Control over Universal Robots 82
5. Specifications 116
5.1. Technical dimensions 117
2F-85 & 2F-140 - Instruction Manual
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