IST-KIT-UR-G Page 1 of 9 KIT-UR-G REVISIONS

Transcription

1 IST-KIT-UR-G Page 1 of 9 MOUNTING INSTRUCTIONS AND OPERATING MANUAL KIT-UR-G REVISIONS DATE REVISION MAIN CHANGES 2017/10/17 Edition A First release 2017/11/23 Edition B Replaced jaws screws (old VITE-016, new VITE-031) 2018/02/12 Edition C Inserted additional cable for direct connection of the gripper to robot wrist removing the capbox unit. Revision of capbox circuit. 2018/02/17 Edition D Gimatic logo rotated by 180, minor review of the cover to allow unique installation of the capbox (repeatability of mass distribution) and new simplified fixation of capbox cover. 2018/03/26 Edition E Replacement of the fixing plate with double plate for a simpler assembly 2018/07/23 Edition F Replacement of 8 pin male straight with angular connector. Revision of capbox circuit. Description Exploded view drawing of the final assembly Itemized list of assembly s components Gripper s main data Capacitor Box Electrical connections to robot wrist Assembly procedure Gripping force Electrical connections of the gripper Cautions CE marking reference Overall dimensions Dimensional drawings DOCUMENT LAYOUT

2 IST-KIT-UR-G Page 2 of 9 DESCRIPTION The KIT-UR-G is a plug & play gripping solution for UR3/UR5/UR10 collaborative robots by Universal Robot. This kit can be used in combination with any collaborative robot that provides a limited power supply capability at the wrist. EXPLODED VIEW DRAWING OF THE FINAL ASSEMBLY ITEMIZED LIST OF ASSEMBLY S COMPONENTS Position Description Q.ty Code Edition 1 Electric gripper (NPN, peak output) 1 MPPM1606NP A 2 Capacitor Box (4 pins) 1 CAPBOX B 3 Gripper s jaws 2 KIT-UR-001 A 4 Frontal cover of the gripper 1 KIT-UR-002 B 5 Posterior cover of the gripper 1 KIT-UR-003 B 6 Posterior cover of the capbox 1 KIT-UR-004 C 7 Frontal cover of the capbox 1 KIT-UR-005 B 8 Cable 200 mm 8 pin - 4pin 1 KIT-UR-011 A 9 Fixing kit electric gripper for UR robot (robot side) 1 MFI-A374-B B 10 Fixing kit electric gripper for UR robot (gripper side) 1 MFI-A374-A A 11 Hex socket head cap screws M3x35 DIN VITE Hex socket head cap screws M3x8 DIN VITE Self tapping screw 2.9X16 DIN 7981 C INOX A2 4 VITE Square nut M3 DIN 562 ZB 6 VITE Hex socket head cap screws M3x16 DIN VITE Dowel pin 2x5.1 DIN SPINA-104 -

3 IST-KIT-UR-G Page 3 of 9 GRIPPER S MAIN DATA MPPM1606NP Total gripping force 67 [N] Stroke 2x3 [mm] (±0.2 [mm]) Maximum frequency (at an ambient temperature of 30 [ C]) 1 [Hz] Jaw closing time 0.08 [s] Gripper working time 0.21 [s] Maximum duty cycle (at an ambient temperature of 30 [ C]) 43% Power supply 24 [Vdc] ±10% Peak current 0.9 [A] Nominal current 0.3 [A] Electrical connections M8 4 poles Open/closed input signal NPN open collector Operating temperature 5 60 [ C] Environmental degree IP54 Mass 145 [g] CAPACITOR BOX The Capacitor Box circuit has an input side and an output side. The input side allows for connection of power supply, command signal and auxiliary I/O by a M8-8pin female connector. Default configuration is with both input and output command signals in NPN version. Body material Overall dimensions Mass Allowed temperature range Electrical connections Environmental degree Power supply Input command signal (default configuration) Output command signal (default configuration) CAPBOX Polycarbonate, glass fiber reinforced 42 x 48.5 x 28 [mm] 70 [g] 60 [ C] Input:M8-8 poles female Ouput: M8-4 poles female IP66 24 [Vdc] ±10% 0.5 [A]rms NPN command type NPN command type

4 IST-KIT-UR-G Page 4 of 9 The user can customize configuration by simply switching internal selectors (please refer to the following pictures and connections schema). ELECTRICAL CONNECTIONS TO ROBOT WRIST The following picture shows the electric connection schema of the connector located at the wrist of UR collaborative robots. The CAPBOX unit has been designed to be directly connected to the robot wrist. CAPBOX CONNECTION UR CONNECTION I/ Vcc - GREY PIN Vcc I/2 - GND - RED PIN 8 GND I/3N NPN digital input - BLUE PIN 7 Gripper command I/4 Gripper s peak output - YELLOW PIN 4 Peak input

5 IST-KIT-UR-G Page 5 of 9 ASSEMBLY PROCEDURE Install the covers of the gripper KIT-UR-002 and KIT-UR-003 by using M3x16 hex socket head cap screws. Fix the jaws KIT-UR-001 to the gripper by using centering sleeves and M3x10 hex socket head cap screws.

6 IST-KIT-UR-G Page 6 of 9 A) In case of use of the CAPBOX Identify the correct orientation of the cover KIT-UR-004 (the chamfer must be in front of the gripper s sensors grooves). Install the cover KIT-UR-004 to the gripper assembly by using M3x35 hex socket head cap screws and complete the assembly by installing the CAPBOX unit and KIT-UR-005 by using the self tapping screws. At last insert the dowel pin into the KIT-UR-004 cover. B) In case of a direct connection of the gripper to the robot wrist Use the dedicated KIT-UR-011 cable for a direct connection of the gripper to the robot wrist. Please be aware that gripper performances may be reduced according to robot s power supply limitations at the wrist. KIT-UR-011 Fix the gripper to the mechanical interface MFI-471 by using centering sleeves, M3x8 hex socket head cap screws, Washers and a Dowel pin.

7 IST-KIT-UR-G Page 7 of 9 Insert M6x8 hex socket head cap screws and dowel pin into the mechanical flange MFI-472 and fix all to the robot flange. Fix the gripper subsystem to the robot wrist using hex socket head cap screws M4x10 and washer as shown.

8 IST-KIT-UR-G Page 8 of 9 GRIPPING FORCE Depending on the design of custom jaws, the electric gripper can be used for either external or internal gripping applications. The part will be gripped in any position within the jaw stroke. After the part is gripped, the spring force will hold the part (Motor OFF and ZERO consumption). Even in case of power black-out. Furthermore, the gripper mechanism is irreversible, even without power supply. Do not attempt to open or close the gripper manually. ELECTRICAL CONNECTIONS OF THE GRIPPER The MPPM1606NP comes with a M8 4 poles connector. Beside the power supply and the input command signal pins, the last pin is associated to a digital output channel which is automatically enabled by the device when the jaws exert the gripping force. This will work like an integrated proximity sensor which can operate independently of the initial position of the jaws, and therefore with no adjustment. CAUTIONS Never let the gripper come into contact with corrosive substances, soldering splashes or abrasive powders as they may damage the gripper. Never let personnel or objects stand within the operating range of the gripper. Never operate the gripper if the machine on which it is fitted does not comply with safety laws and standards of your country. CE MARKING REFERENCE The system is in conformance with: Directive 2004/108/CE, EN ( ), EN EC+IS1 ( ; ; ), EN A1 ( ; ), EN ( ), EN A1 ( ; ), EN ( ), EN ( ), EN A1+IS1+A2 ( ; ; ; ), EN A1 ( ; ), EN ( ), EN A1+IS1 ( ; ; ), EN ( ), CEI EN ( ).

9 IST-KIT-UR-G Page 9 of 9 DIMENSIONAL DRAWINGS OVERALL DIMENSIONS GRIPPER S JAWS (KIT-UR-001)

10 IST-KIT-UR-V Page 1 of 12 MOUNTING INSTRUCTIONS AND OPERATING MANUAL KIT-UR-V REVISIONS DATE REVISION MAIN CHANGES 2017/10/17 Edition A First release Description Exploded view drawing of the final assembly Itemized list of assembly s components System s main data Solenoid valve s details Electrical connection to robot tool flange Assembly procedure Configuration options Mechanical connection to robot tool flange Cautions Ordinary maintenance CE marking reference Overall dimensions DOCUMENT LAYOUT

11 IST-KIT-UR-V Page 2 of 12 DESCRIPTION The KIT-UR-V is an End Of the Arm Tool (EOAT) for pick & place which exploits the vacuum technique and it is specifically designed for UR3/UR5/UR10 collaborative robots by Universal Robot. This kit can be used in combination with any collaborative robot that provides a limited power supply capability at the wrist. EXPLODED VIEW DRAWING OF THE FINAL ASSEMBLY

12 IST-KIT-UR-V Page 3 of 12 ITEMIZED LIST OF ASSEMBLY S COMPONENTS Position Description Q.ty Code Edition 1 Mounting bracket UR rectangular 1 MFI-A372 A 2 Extruded 25x25 L= m EMB-2525 C 3 Kit angular connection ϕ14 (L=40) 4 MFI-A05 D 4 Plug for profile 4 MFI-034 A 5 Kit leg for vacuum cup 1/8 1/8 ϕ14x80 4 MFI-A72 B 6 Nipple for vacuum cups male 4 AV0118M16 A 7 Vacuum cup ϕ33 4 V0233H04 D 8 Swivelling elbow male adaptor ϕ6 G1/8 4 RG Kit side manifold block (single channel) G1/8 1 MFI-A68 C 10 Straight male adaptor ϕ6 G1/8 6 RG N PINline vacuum generator MINI SI, 6-6 mm 1 PV Polyurethane hose L=8m 98 shore blue 1 TUBO6x4BL Half-bracket for mounting hose 4 MFI-235 A 14 Cable tie 4.8x300 2 LV Electropilot with manual control 3/2 NO G1/8 1 KIT-UR Solenoid 22 mm 1 KIT-UR Connector 22 mm LED + CDR 0-24V 1 KIT-UR TCEI M3x25 DIN 912 Inox A2 2 VITE Nut M3 DIN 985 Z/B 2 VITE Connector 8 poles wire ϕ5 1 CFGM800803P Silencer G1/8 1 RG Swivelling elbow male adaptor ϕ6 M5 1 RG Mounting bracket 90 Electropilot 1 KIT-UR-010 A 24 TCEI M5x10 C/ROND DENT De/ZnNi 7 IV 2 VITE Nut M5 L=25 (5-17) 1 MFI-148 A SYSTEM S MAIN DATA Total suction force at [bar] 1 Power medium Temperature range Noise level Vertical Rotation/Horizontal 80 [N] 32 [N] Filtered, lubricated/ non-lubricated compressed air [ C] [dba] 1 Testing carried out with a cardboard box of dimensions 280 x 370 x 250 [mm].

13 External pneumatic connection Total mass Optimal feed pressure Max vacuum Vacuum cups hardness Vacuum cups diameter IST-KIT-UR-V Page 4 of 12 ϕ6 [mm] 1.3 [kg] 6 [bar] [bar] 60 [Sh.A] 34 [mm] SOLENOID VALVE S DETAILS Threaded G 1/8 (bore 2-3) - M5 (bore 1) 6 [bar] flow rate with Δp 1 [bar] 30 [Nl/min] Optimal operating pressure 6 [bar] Solenoid voltage 24 [V] DC Power consumption 2 [W] External electrical connection Standard M8, 8 poles, female connectior Ways 3/2 Function Normally Open Reactuation Monostable spring return

14 IST-KIT-UR-V Page 5 of 12 ELECTRICAL CONNECTION TO ROBOT TOOL FLANGE Connect the solenoid M8 female connector with the M8 male connector of the robot tool flange. Robot tool flange Standard M8, 8 poles female connector The following picture shows the electric connection schema of the connector located at the wrist of UR collaborative robots. SOLENOID VALVE CONNECTION PIN 1 +24V PIN 2 0VC UR CONNECTION PIN 8 POWER GREY WIRE PIN 7 Tool command BLUE WIRE (NPN)

15 IST-KIT-UR-V Page 6 of 12 ASSEMBLY PROCEDURE 1. Fix the MFI-A372 to the two square beams EMF-2525 with the four TCEI M5x10 SCREWS and relative square nuts (included in MFI-A372 kit). 2. Assembling the four vacuum cup group. Put the nipple (AV0118M16) into the vacuum cup (V0233H04) and screw the nipple (AV0118M16) into the leg (MFI-A72), then fix the MFI-A05 to the leg (MFI-A72). At last connect the adaptors RG and RG N03 to the legs (MFI-A72).

16 IST-KIT-UR-V Page 7 of Position and fix the four vacuum cup group (assembled in step 2) on the square beams (fixed in step 1). Position and fix the kit side manifold block (MFI-A68) on one side of a square beam and insert the adaptors: four sideways (RG N03) and one bottom (RG ). 4. Fix the vacuum pump (PV ) using mounting brackets (MFI-235(x4)) and the cable tie 4.5x280 (LV (x2)).

17 IST-KIT-UR-V Page 8 of Wire the cable (CFGM800803P-01) with the connector (CON ): following the previously described electrical connection schema. Fix the solenoid to the electropilot (07VS03N002), connect the connector (CON ) to the solenoid (07VS03N002). Connect the silencer (RG ) at the electropilot (07VS03N002 - bore number 3), connect the adaptor in the other two bores (RG N03-01 in bore-2, RG in bore -1). At last fix everything to the braket (KIT-UR-010) with two screws TCE M3x25 and two nuts M3. Pay attention to the direction of the arrow of the electropilot (07VS03N002). Finally fix the solenoid valve group on the square beam with the two screws M5 and nut MFI-148. At last put the four plugs (MFI-034) at the ends of the square beams.

18 IST-KIT-UR-V Page 9 of Connect the vacuum cup groups to the kit side manifold block (MFI-A68) and connect the kit side manifold block (MFI-A68) with the vacuum pump (PV ) with the hoses as shown in the following figure. Connect the vacuum pump (PV ) to the electropilot (07VS03N002 at bore-2). Finally connect the electropilot (07VS03N002 at bore-1) to the pneumatic power source and the cable (CFGM800803P-01) to the wrist of the robot.

19 IST-KIT-UR-V Page 10 of 12 CONFIGURATION OPTIONS The gripping hand is highly flexible: it s possible to choose two different distances between the two beams (figure 1), to choose the position to the vacuum cup group and their angular inclination (figure 2-3) and choose the height of the gripping hand (figure 4). Figure 1 Figure 2 Figure 3

20 IST-KIT-UR-V Page 11 of 12 Figure 4 MECHANICAL CONNECTION TO ROBOT TOOL FLANGE Insert four M6x10 screws and relative washers (included in MFI-A372 kit) into the mechanical flange MFI-A372.

21 IST-KIT-UR-V Page 12 of 12 CAUTIONS Never let the system come into contact with corrosive substances, soldering splashes or abrasive powders as they may either damage the system or affect the vacuum cup s functionality. Never let personnel or objects stand within the operating range of the system. Never operate the system if the machine on which it is fitted does not comply with safety laws and standards of your country. ORDINARY MAINTENANCE The gripping hand is subject to vibrations, is recommended a periodic verification of screws, fixings and components of the gripping hand. Periodically check the efficiency of the suction cups on the product and replace them if not considered more efficient for the application. CE MARKING REFERENCE The gripping hand is made in compliance with the relevant Community Directives. The gripping hand falls into the category "PARTLY COMPLETED MACHINERY". The gripping hand has been realized in compliance with the 2006/42 / CE Directive (Legislative Decree 17/2010 attached IIB) and it respect the following essential requirements: Directive: 1.1.1, 1.1.3, 1.1.5, 1.2.1, 1.3.1, 1.3.2, 1.3.4, 1.5.3, 1.5.4, 1.6.1, 1.7.2, 1.7.4, 2.1.1, Other directives applicable to the product: UNI EN ISO part 1 and 2. OVERALL DIMENSIONS

22 IST-KIT-UR-QC Page 1 of 8 MOUNTING INSTRUCTIONS AND OPERATING MANUAL KIT-UR-QC REVISIONS DATE REVISION MAIN CHANGES 2018/02/13 Edition A First release Description Exploded view drawing of the final assembly Itemized list of assembly s components System s main data Electrical connection to robot tool flange Assembly procedure Cautions Ordinary maintenance CE marking reference Overall dimensions DOCUMENT LAYOUT

23 IST-KIT-UR-QC Page 2 of 8 DESCRIPTION The KIT-UR-QC is a Quick Changer that allows an easy replacement of the EOAT (End Of the Arm Tool) on the robot. It is specifically designed for UR3/UR5/UR10 collaborative robots by Universal Robot and it is complete compatible with KIT-UR-G and KIT-UR-V kits. These kits can be used in combination with any collaborative robot that provides a limited power supply capability at the wrist. EXPLODED VIEW DRAWING OF THE FINAL ASSEMBLY

24 IST-KIT-UR-QC Page 3 of 8 ITEMIZED LIST OF ASSEMBLY S COMPONENTS Position Description Q.ty Code Edition 1 Overall base 1 QCY90-A-UR A 2 Sub overall flange 1 QC90-B G 3 PMAQC wired M8 8 pin female 90 1 KIT-UR-013 B 4 PMBQC wired M8 8 pin male straight 1 KIT-UR-014 B 5 Kit adapter plate QC90 for UR robot flange 1 MFI-A370 A 6 Adapter flange KIT-UR-QC/KIT-UR-G 1 KIT-UR-018 A 7 Screw TCEI M5x10 DIN 912 INOX A2 4 VITE Pin 4x10 DIN SPINA Screw TCEI M5x10 C/ROND DENT Fe/ZnNi 6 VITE Swivelling elbow male adaptor ϕ6 G1/8 16 RG Polyurethane hose L=8m 98 shore blue 1 TUBO6x4BL SYSTEM S MAIN DATA Safety loads Vertical 400 [N] Moment 100 [Nm] Recommended payload 10 [kg] Temperature range [ C] Mass quick changer [g] Number of pneumatic connections 12 Total mass 1.5 (max) [kg] Working pressure range -1 6 [bar] Electric connection (robot flange side) Standard M8, 8 poles, female connector Electric connection (tool side) Standard M8, 8 poles, male connector

25 IST-KIT-UR-QC Page 4 of 8 ELECTRICAL CONNECTION TO ROBOT TOOL FLANGE Connect the M8 female connector with the M8 male connector of the robot tool flange. Robot tool flange Standard M8, 8 poles female connector The following picture shows the electric connection schema of the connector located at the wrist of UR collaborative robots and at the output of KIT-UR-QC. UR ROBOT OUTPUT KIT-UR-QC OUTPUT WHITE WIRE PIN 1 WHITE WIRE PIN 1 BROWN WIRE PIN 2 BROWN WIRE PIN 2 YELLOW WIRE PIN 3 YELLOW WIRE PIN 3 GREEN WIRE PIN 4 GREEN WIRE PIN 4 GREY WIRE PIN 5 GREY WIRE PIN 5 BLUE WIRE PIN 6 BLUE WIRE PIN 6 PINK WIRE PIN 7 PINK WIRE PIN 7 RED WIRE PIN 8 RED WIRE PIN 8

26 IST-KIT-UR-QC Page 5 of 8 ASSEMBLY PROCEDURE 1. Screw the pneumatic fittings (RG500200N03-01 (x16) to the Quick Changer parts (QC90Y-A-UR, QC90-B) like in figure below. Fix the KIT-UR-013 to the base QCY90-A-UR and fix the KIT-UR-014 to the Sub-base QC90-B. 2. Install the adaptor plate (MFI-467) on the robot flange using the pin (SPINA-016) and four screws (VITE-135). Subsequently fix the base QCY90-A-UR to the plate (MFI-467) using the pin (SPINA-049) and three screws (VITE- 115).

27 IST-KIT-UR-QC Page 6 of 8 3a. ONLY FOR KIT-UR-G/KIT-UR-J: Replace the fixing plate MFI-472 supplied in the KIT-UR-G/KIT-UR-J with the plate KIT-UR-018 and fix the gripper as explained in the KIT-UR-G/KIT-UR-J kit. Subsequently fix the KIT-UR-018 to the sub-base QC90-B using four screws (VITE-027) and the pin (SPINA-016). Then fix the two plates as explained in the KIT-UR-G/KIT-UR-J kit. 3b. ONLY FOR KIT-UR-V: Fix the KIT-UR-V to the sub-base QC90-B using six screws (VITE-469).

28 IST-KIT-UR-QC Page 7 of 8 4. Joint the QC90Y-A and QC90-B and close the mechanism by turning the lever as shown.

29 IST-KIT-UR-QC Page 8 of 8 CAUTIONS Never let the unit come into contact with corrosive substances, soldering splashes or abrasive powders as they may damage the quick changer. Never let personnel or objects stand within the operating range of the system. Never operate the system if the machine on which it is fitted does not comply with safety laws and standards of your country. ORDINARY MAINTENANCE The gripping hand is subject to vibrations, is recommended a periodic verification of screws, fixings and components of the gripping hand. For correct operation of the device, we recommend periodic cleaning the Quick Changer. CE MARKING REFERENCE The gripping hand is made in compliance with the relevant Community Directives. The gripping hand falls into the category "PARTLY COMPLETED MACHINERY". The gripping hand has been realized in compliance with the 2006/42 / CE Directive (Legislative Decree 17/2010 attached IIB) and it respect the following essential requirements: Directive: 1.1.1, 1.1.3, 1.1.5, 1.2.1, 1.3.1, 1.3.2, 1.3.4, 1.5.3, 1.5.4, 1.6.1, 1.7.2, 1.7.4, 2.1.1, Other directives applicable to the product: UNI EN ISO part 1 and 2. OVERALL DIMENSIONS

30 IST-KIT-UR-J Page 1 of 10 MOUNTING INSTRUCTIONS AND OPERATING MANUAL KIT-UR-J REVISIONS DATE REVISION MAIN CHANGES 2018/5/21 Edition A First release Description Exploded view drawing of the final assembly Itemized list of assembly s components Gripper s main data Capacitor Box Electrical connections to robot wrist Fixing system on the robot Assembly procedure Gripping force Electrical connections of the gripper Cautions CE marking reference Dimensional drawings DOCUMENT LAYOUT

31 IST-KIT-UR-J Page 2 of 10 DESCRIPTION The KIT-UR-J is a plug & play gripping solution for UR3/UR5/UR10 collaborative robots by Universal Robot. This kit can be used in combination with any collaborative robot that provides a limited power supply capability at the wrist. EXPLODED VIEW DRAWING OF THE FINAL ASSEMBLY ITEMIZED LIST OF ASSEMBLY S COMPONENTS Position Description Q.ty Code Edition 1 Parallelogram Electric gripper (NPN, peak output) 1 MPRJ2553NP A 2 Fixing kit electric gripper for UR robot (robot side) 1 MFI-A374-A A 3 Fixing kit electric gripper for UR robot (gripper side) 1 MFI-A374-B A 4 Frontal cover of the gripper 1 KIT-UR-019 A 5 Frontal cover s door 1 KIT-UR-020 A 6 Posterior cover 1 KIT-UR-021 A 7 Electric circuit capbox with cables 1 KIT-UR-024 A 8 Square Lens 3x3x6mm 2 GLSQ Self tapping screw 2.2x6.5 4 VITE Self tapping screw 2.9X16 DIN 7981 C INOX A2 2 VITE-393 -

32 IST-KIT-UR-J Page 3 of 10 GRIPPER S MAIN DATA MPRJ2553NP Total gripping force 24 [N] Stroke 53 [mm] (±0.2 [mm]) Maximum frequency (at an ambient temperature of 30 [ C]) 1.6 [Hz] Jaw closing time 0.15 [s] Gripper working time 0.24 [s] Maximum duty cycle (at an ambient temperature of 30 [ C]) 76% Power supply 24 [Vdc] ±10% Peak current 1.2 [A] Nominal current 0.4 [A] Electrical connections M8 4 poles Open/closed input signal NPN open collector Operating temperature 5 60 [ C] Environmental degree IP54 Mass 445 [g] CAPACITOR BOX The Capacitor Box circuit has an input side and an output side. The input side allows for connection of power supply, command signal and auxiliary I/O by a M8-8pin female connector. The output side allows for direct connection of 4 pins Plug & Play grippers models. Default configuration is with both input and output command signals in NPN version. Overall dimensions Mass Allowed temperature range Electrical connections Environmental degree Power supply Input command signal (default configuration) Output command signal (default configuration) CAPACITOR BOX 42 x 48.5 x 28 [mm] 70 [g] 60 [ C] Input:M8-8 poles female Output: M8-4 poles female IP66 24 [Vdc] ±10% 0.5 [A]rms NPN command type NPN command type

33 IST-KIT-UR-J Page 4 of 10 If necessary, the user can customize the configuration of the input and the output by simply referring to the following steps: 1. To access the CAPBOX electric circuit, unscrew the four M2.2x9 Hex-lobular internal screws and pull out frontal cover s door. 2. Choose the type of input and output desired by the two selectors (please refer to following pictures and connections schema)

34 IST-KIT-UR-J Page 5 of 10 ELECTRICAL CONNECTIONS TO ROBOT WRIST The following picture shows the electric connection schema of the connector located at the wrist of UR collaborative robots. The CAPBOX unit has been designed to be directly connected to the robot wrist. CAPBOX CONNECTION UR CONNECTION I/ Vcc - GREY PIN Vcc I/2 - GND - RED PIN 8 GND I/3N NPN digital input - BLUE PIN 7 Gripper command I/4 Gripper s peak output - YELLOW PIN 4 Peak input FIXING SYSTEM ON THE ROBOT The following picture shows how MFI-A374-A and MFI-A374-B (Fixing kit electric gripper for UR robot) is composed.

35 IST-KIT-UR-J Page 6 of 10 ASSEMBLY PROCEDURE Insert four M6x8 hex socket head cap screws and three dowel pins into the mechanical flange MFI-472 and fix all to the robot flange. Fix the gripper to the mechanical interface MFI-471 by using two centering sleeves, four washers and four M4x10 hex socket head cap screws. Correct position of the four M4x10

36 IST-KIT-UR-J Page 7 of 10 Fix the gripper subsystem to the robot wrist using four M4x10 hex socket head cap screws and four washers as shown. Install the covers of the gripper KIT-UR-019 and KIT-UR-021 by using two M2.9x16 self-tapping screws.

37 IST-KIT-UR-J Page 8 of 10 Connect the 4 poles wire CFGM890402P-01 from the electronic circuit CAPBOX to the gripper MPRJ2553NP and connect the 8 ples wire CFGM890802P-01 to the robot flange.

38 IST-KIT-UR-J Page 9 of 10 GRIPPING FORCE Depending on the design of custom jaws, the electric gripper can be used for either external or internal gripping applications. The part will be gripped in any position within the jaw stroke. After the part is gripped, the spring force will hold the part (Motor OFF and ZERO consumption). Even in case of power black-out. Furthermore, the gripper mechanism is irreversible, even without power supply. Do not attempt to open or close the gripper manually. ELECTRICAL CONNECTIONS OF THE GRIPPER The MPRJ2553NP comes with a M8 4 poles connector. Beside the power supply and the input command signal pins, the last pin is associated to a digital output channel which is automatically enabled by the device when the jaws exert the gripping force. This will work like an integrated proximity sensor which can operate independently of the initial position of the jaws, and therefore with no adjustment. CAUTIONS Never let the gripper come into contact with corrosive substances, soldering splashes or abrasive powders as they may damage the gripper. Never let personnel or objects stand within the operating range of the gripper. Never operate the gripper if the machine on which it is fitted does not comply with safety laws and standards of your country. CE MARKING REFERENCE The system is in conformance with: Directive 2004/108/CE, EN ( ), EN EC+IS1 ( ; ; ), EN A1 ( ; ), EN ( ), EN A1 ( ; ), EN ( ), EN ( ), EN A1+IS1+A2 ( ; ; ; ), EN A1 ( ; ), EN ( ), EN A1+IS1 ( ; ; ), EN ( ), CEI EN ( ).

39 IST-KIT-UR-J Page 10 of 10 DIMENSIONAL DRAWINGS