support@robotiq.com
T: 1.418.380.2788 option 3
October 2018
V1.1
HAND-E
QUICK START GUIDE
support.robotiq.com
New product has a 1-year warranty from the above date.
Refer to your product instruction manual for details.
For installation on
e-Series
Universal Robots
• Depending on the PolyScope settings used, the
Gripper position measurements can either display in
metric or imperial units.
7. HOW TO CALIBRATE
THE GRIPPER
• Go to the Installation tab, tap the URCaps menu on the
left and select Gripper.
• Tap the Calibration tab.
• Tap the Calibrate button next to the Gripper icon to
start the Calibration wizard.
• The wizard prompts the user to fully close the Gripper,
regardless of the type of fingers/fingertips used.
• Measure the distance between the fingers/fingertips
and enter the measurement in the appropriate box.
• Tap the Continue button.
• The user is then asked to fully open the Gripper.
• Measure the distance between the
fingers/fingertips and enter the measurement in the
appropriate box.
• Tap the Continue button to complete the
Calibration wizard.
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• Tap the UR+ button to expand the Gripper Toolbar.
The Gripper position measurements can either display
in millimeters or inches, depending on the PolyScope
settings used.
8. USE NODES TO PROGRAM
WITH THE GRIPPER
Gripper Node
• Tap the Program button at the top of the screen.
• Tap the URCaps button in the navigation pane on the left.
• Select Gripper in the dropdown list.
• Go to the Command tab to edit your Gripper’s action.
Grip Check Node
• Tap the Program button at the top of the screen.
• Tap the URCaps button in the navigation pane on the left.
• Select Grip Check in the dropdown list.
• Go to the Command tab to edit the node.
• Select a condition (If object is detected vs. If object is not
detected).
• If applicable, enter the object dimension for validation.
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