ROBOTIQ Hand-E C10 - Page 2

Robotiq Hand-E C10 Gripper Instruction Manual
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Revisions 6
1. General Presentation 8
1.1. Object picking 9
1.2. Setup and control 10
2. Safety 11
2.1. Warning 11
2.2. Intended Use 12
3. Installation 13
3.1. Scope of Delivery 13
3.1.1. Robotiq Hand-E C10 Gripper URStandard Kit 13
3.1.2. UR Wrist connection Kit for CB-Series 14
3.2. Required Tools and Equipment 15
3.3. Environmental and Operating Conditions 16
3.4. Mechanical Installation 16
3.4.1. Installing the Gripper on the Robot 16
3.4.2. Installing Stepped Fingers on the Gripper 24
3.4.3. Installing extenders on the Gripper 25
3.4.4. Installing stop plate on the Gripper 25
3.5. Electrical Setup 27
3.5.1. Electrostatic Discharge Safety 27
3.5.2. Pinout Interface 27
3.5.3. Coupling to Controller 28
3.5.4. Coupling to Tool Connector for I/O Coupling 30
3.5.5. Coupling to Wrist for e-Series 30
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 31
3.7. Installation for Universal Robots 32
3.8. URCap Package 33
3.8.1. Installing URCap Package 34
3.8.2. Uninstalling URCap Package 39
4. Control 42
4.1. Overview 42
4.2. Gripper Register Mapping 43
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