ASPINA / robotic gripper - To grasp everything

Q&A

How can we set robotic grippers (UR +) with the Universal Robots?

We will explain the setting method.

This section describes the settings in the universal robot operation software called URCaps. Part 1 is about the introduction and initial setting of URCaps. Part 2 is tool I / O. Part 3 is the explanation about communication control.

  1. How to install URCaps
  2. I/O control
  3. Communication control

1. How to install URCaps

1.1. Installation

  • Attaching to robot
  • Routing connection cables

[Related page] Q.What do I need to attach to the robot?

1.2. Installation setting

Select "RS485 on or off″ from communication tab and "Tool I/O on or off "from Tool I/O tab on the Teach Pendant.

1.3. Adding commands to the program

Tap a command from the URCaps menu.
Select Communication or Tool I/O.

1.4. Configure commands

Tap the command tab to adjust the operation of the robotic gripper

2. I/O control

The robot gripper operates by digital output from the robot.

2.1. Tool I/O

Connecting to a robot in Tool I/O

As shown in the figure, connect the robot Tool I/O and the robotic gripper using a dedicated cable.
The pin assignments and functions of the dedicated cable are as follows. It also shows input / output signal assignments and signal functions of the robotic gripper. (Factory default)

2.2. Grip pattern

The user can operate the robotic gripper by selecting patterns 1 to 4. The pattern can be set with the dedicated app.
(* Patterns 0 to 3 on the dedicated app are assigned to patterns 1 to 4 on the ARH Tool I / O command.)

2.3. Setting items

Waiting time setting

The User can adjust the waiting time during the robotic gripper operation by changing Wait value.Setting the wait value to 0, the user can move the robotic gripper and the robot together.

Grip check

The user can monitor the success / failure of the grip. If the grip fails, a popup will appear and the robot will stop.

3. Communication control

In communication control, the user can set the finger position, gripping force, operating speed, etc. of the robotic gripper by communication. It is also possible to refer to the status by using a script.

3.1. Connection

e-series connection

For e-series, set the analog inputs to the communication interface on the Tool Analog Inputs tab of Tool I/O

Communication interface

  • Baud rate: 115200 [bps]
  • Parity bits: Even
  • Stop bits: One

For the CB series, prepare a USB-RS485 converter (sold separately) and connect it to the USB port of the controller box. Check "Use USB to RS485 Converter" in the installation.

[Related page] Q. What kind of communication / control is possible?

3.2. Setting items

3.3. Setting contents

Position

  • Setting the finger position with 0 - 100 resolution.
  • Fully open：0%, fully closed：100%.

Torque and Speed

  • Torque：15 - 100%
  • Speed：10 - 400%
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