QUICK INSTALLATION GUIDE For your new SoftGripper Hardware Installation and URCap Handling This guide includes every step needed to install and use all versions of SoftGrippers with your UR Robot. Version 1.2.
Quick Installation Guide URCap Introduction Start your adventure by connecting your new SoftGripper to the Universal Robots hardware. To make the Installation a breeze, we are certified by the UR+ Program, meaning that the package you have got on hand has all the components needed for a swift start.
Quick Installation Guide URCap The base and connector are then attached to the robot and fixed with screws. If you use angle adapters, connect them to the fingers using the bayonet lock. The fingers are then attached to the base using a bayonet lock as well. To do this, the finger is inserted into the appropriate opening and turned until it clicks into place. info@soft-gripping.com www.soft-gripping.com | www.soft-gripping.
Quick Installation Guide URCap Finally, the connections for pressure and vacuum are attached to the SoftGripper. If you have followed the procedure so far, this is how your assembled SoftGripper should look like. Now you can start with the Software and programming. info@soft-gripping.com www.soft-gripping.com | www.soft-gripping.
Quick Installation Guide URCap Installing the Control Box All SoftGrippers require pneumatics. You can use your own controller and pneumatics with our SoftGrippers, but if you need a Control Box, we have one prepared for your needs. On the front side the current pressure settings can be seen and adjusted via the knob. In the back, you can find the Inputs, Outputs as well as the power and communication connector. Control Box – Front View Pressure Indicator Pressure Regulator info@soft-gripping.com www.
Quick Installation Guide URCap Control Box – Back View Input Pressure Tubing: outside diameter 6 mm Pressure range: 4 to 7 bar Finger Output 4 mm outside Ø - 0.75 to 2.5 bar Suction Cup Output 4 mm outside Ø - 0.75 to 0 bar Signal Connector M12 connector IEC 61076-2-101 Coding: A Digital Signal input: 21.6 to 26.4 V DC The top connector is reserved for the input from the compressor, be sure to use a maximum of 7 bar of pressure to avoid damaging the device.
Quick Installation Guide URCap Figure 3: The correct installation and wiring to the Universal Robot. Using the URCaps You can find the URCaps required for the operation on a flash drive attached. Plug it into your machine and deploy the addon in the Settings menu. Remember that the minimum system requirements for your robot are 3.11.0.82155 or 5.5.1.82186 respectively. info@soft-gripping.com www.soft-gripping.com | www.soft-gripping.
Quick Installation Guide URCap The URCap importing tool can be found under in the System > URCap submenu. Select finger.urcap or suctioncup.urcap and tap the Open button to include the module. After activating URCaps for the Finger and Suction Cup modules, restart the robot and return to the Program. info@soft-gripping.com www.soft-gripping.com | www.soft-gripping.
Quick Installation Guide URCap First, make sure to select the right Digital Output Pins for the SoftGripper’s pressure control. To edit the default settings, go to the Installation tab. You will find the Pin configuration in the URCaps menu. Of course, you can edit the Pins for Fingers and Suction Cups separately. After the initial setup, you are ready to program a workflow. The SoftGripper nodes can now be used like any other familiar node and are found under Program > URCaps.
Quick Installation Guide URCap Additionally, you can set the waiting time in the automatically created subnode. You should recognize the subnode from the Standard Wait node. It can be used as usual, setting a timer, a wait function or to continue upon an external influence. Have fun experimenting with the SoftGripper toolkit and as usual: contact us, if you need further help! You can also test your setup on the fly using the build in toolbar.
Quick Installation Guide URCap Miscellaneous To change the fingers, turn off the pressure control and disconnect the finger turning the integrated bayonet catch counterclockwise. The new finger has to be turned into the grippers base until you hear the click of a latch. It is now safe to operate the robot again. If you need to remove the URCap, you can do it in the familiar Settings > System > URCaps, by selecting “–“ and restarting your Robot afterwards for the changes to take place.
Quick Installation Guide URCap Congratulations You are now familiar with the whole setup process! Thank you for using our SoftGripper. We hope that you will enjoy using it as much as we enjoy creating them. If you need further support, do not hesitate to contact us via email, telephone or online! soft-gripping.com soft-gripping.shop info@soft-gripping.com by Wegard GmbH Kirchenheide 18 22395 Hamburg info@soft-gripping.com www.soft-gripping.com | www.soft-gripping.
