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2F-85
User Manual
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Robotiq 2F-85, 2F-140 User Manual

Robotiq 2F-85 & 2F-140 for CB-Series Universal Robots
Original Notice
© 2019 Robotic Inc.
Instruction Manual
robotiq.com | leanrobotics.org
Revisions 7
1. General Presentation 10
2. Safety 17
2.1.1. Risk assessment and final application: 18
3. Installation 20
2
3.1.1. UR Kit 21
3.4.1. Installing fingers on the Gripper 23
3.4.2. Installing the fingertips on the Gripper 24
3.4.3. Installing a Protector Kit on the Gripper Fingers 25
3.4.4. Installing the Gripper onto the robot 25
Single Gripper 25
Multiple Grippers 27
3.5.1. Pinout Interface 29
3.5.2. Coupling to controller 29
Single Gripper 30
Multiple Grippers 31
3.8.1. Installing URCap Package 35
Single Gripper 35
Multiple Grippers 36
2F-85 &2F-140 - Instruction Manual
3
3.8.2. Uninstalling URCap Package 39
3.8.3. License Agreement 40
3.9. URPackage without URCaps 43
3.9.1. Installation 43
4. Control 45
4.1. Overview 45
4.2. Gripper Register Mapping 47
4.3. Robot Output Registers &Functionalities 48
4.4. Robot Input Registers &Status 51
4.5. Picking Features 54
4.5.1. Force control 54
4.5.2. Re-Grasp 59
4.5.3. Object detection 60
4.6. Control Logic 61
4.7. Modbus RTUCommunication 62
4.7.1. Connection Setup 63
4.7.2. Read holding registers (FC03) 64
4.7.3. Read input registers (FC04) 65
4.7.4. Preset multiple registers (FC16) 66
4.7.5. Master read & write multiple registers FC23 67
4.7.6. Modbus RTU example 69
4.8. Control over Universal Robots with URCap 78
4.8.1. Gripper Dashboard 79
Overview 79
Single Gripper 79
Multiple Grippers 81
Features 81
4.8.2. Gripper Calibration menu and wizard 82
Features 84
4.8.3. Gripper Toolbar 86
Overview 86
Single Gripper 87
Multiple Grippers 88
Features 89
2F-85 &2F-140 - Instruction Manual
Gripper activation 89
Gripper operation window 90
Show/hide Gripper Toolbar 92
4.8.4. Gripper Node 92
Command window 92
Features 94
Edit action screen 96
Single Gripper 96
Multiple Grippers 97
Features 98
Grip Check node 99
About 99
Error messages overview 100
4
Gripper Program Template 102
Advanced Gripper Functions 103
Single Gripper 103
Multiple Grippers 106
4.8.5. Retro-compatibility of URCaps with legacy driver programs 109
4.9. Control over Universal Robots without URCaps 110
4.9.1. Gripper Toolbar 110
Overview 110
Features 110
Toolbar collapsed 110
Toolbar expanded 111
4.9.2. Demo Scripts 112
4.9.3. Custom Programs 113
4.9.4. Provided Variables and Functions 114
5. User Interface 117
6. Specifications 118
6.1. Technical dimensions 119
6.1.1. Couplings 123
Blank coupling 123
Coupling for ISO 9409-1-50-4-M6 124
2F-85 &2F-140 - Instruction Manual
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Coupling for ISO 9409-1-31.5-4-M5 125
Coupling for ISO 9409-1-40-4-M6 126
Coupling for PCD 56 with 8 x M4 127
Coupling for PCD 56 with 6 x M4 128
Coupling for PCD 60 with 4 x M5 129
Coupling for PCD 63 with 6 x M6 130
6.1.2. Fingertips 131
Flat silicone fingertip 132
Grooved fingertip 133
6.2. Mechanical specifications 134
6.2.1. Payload and force 135
Friction grasp and form-fit grasp 137
Maximum payload by grasp type 137
6.2.2. Equilibrium Line 138
6.2.3. Center of mass, tool centere point and moment of inertia 139
6.2.4. Moment and force limits 141
6.3. Electrical specifications 142
7. Maintenance 143
7.1. Gripper cleaning 144
7.2. Periodic inspection 146
7.3. Fingertip replacement 147
7.4. Overhaul 148
8. Spare Parts, Kits and Accessories 149
9. Troubleshooting 152
10. Warranty andPatent 155
11. Contact 158
12. Harmonized Standards, Declarations and Certificates 159
12.1. Translation of original EC declaration of incorporation 159
12.2. Applied standards 160
2F-85 &2F-140 - Instruction Manual
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2F-85 &2F-140 - Instruction Manual

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at support.robotiq.com.
Revision 2019/03/13
Updated mechanical specifications (section 6.2)
Revision 2018/11/07
New major revision of the Gripper hardware
l All external visual supports changed to reflect the hardware changes
l Updated Section 1
l Updated Section 3
l Updated Section 4
l Updated Section 6
7
l Updated Section 7
l Updated Section 8
l Updated Section 9
Revision 2018/09/11
l Updated Section 3 according to the robot used (CB-Series vs. e-Series)
l Updated Section 4
l Input &Output Registers
l Control over Universal Robots depending on the robot software used (PolyScope 3.6 and later version vs. PolyScope 5.0 and
later versions)
l Added LEDand move functions to the list of available functions
l Updated Section 8 with new spare parts, kits and accessories
Revision 2018/05/23
l Major update following the release of UCG-1.2.0
l New subsections in Section 4: Control
l Gripper Dashboard
l Gripper Calibration menu and Calibration wizard for object validation
Revision 2017/06/06
Added section:
l 4.8.2.1 Multiple Grippers
Revised sections:
2F-85 &2F-140 - Instruction Manual
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l 3.8.1 Installation procedure for URCaps
l 4.8.1 Gripper Toolbar
Revision 2016/07/04
Major revision : Updated for URcaps release Section added :
l 3.8 URCaps Package
l 3.9 UR Package without URCaps
l 4.8 Control over Universal Robots with URCaps
l 4.9 Control over Universal Robots without URCaps
Revision 2015/09/15
Major revision : Updated for 2-Finger 140
Revision 2015/07/21
Section added :
l 4.5 Picking features : Force control, re-grasp and object detection.
l A. Harmonized standards, declarations and certificates
Minor modifications :
l Section 1. General Presentation
l Section 3.7 Universal Robots package
Revision 2014/11/05
Modification for Robotiq 2-Finger 85 Adaptive Robot Gripper version 3
Revision 2014/07/22
Modification for use on Robotiq Universal Controller
Minor modifications : User Interface section, maintenance section
Revision 2013/02/06
Section added : Couplings ISO models and Baxter robots Minor modifications
Revision 2013/02/06
Section added : Communication with UR robots Minor modifications
Revision 2012/10/18
Official release
Revision 2012/03/02
Beta release
2F-85 &2F-140 - Instruction Manual
9
Copyright
© 2016-2019 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.
The information contained in this document is subject to change without notice.
2F-85 &2F-140 - Instruction Manual
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1. General Presentation

The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85", "2-Finger 140", "2F-85" and "2F­140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper. The Robotiq 2-Finger Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm (2F-85) or 140mm (2F-140). Both versions use the same base, installation and control will be exactly the same. The 2-Finger Gripper is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly pick, place and handle a large range of objects of varying sizes and shapes.
Info
Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive Robot Gripper.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
The following section presents the key features of the grasp-type gripper and must not be considered as appropriate to the gripper operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and understood before any operation is attempted with thegrasp-type gripper.
2F-85 &2F-140 - Instruction Manual
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1.1. Gripper nomenclature

The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below. The grasp-type gripper can engage up to five points of contact with an object (two on each of the phalanges plus the palm). The fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers to automatically adapt to the shape of the object they grasp and it also simplifies the control of the grasp-type gripper.
Fig. 1-1: Robotiq 2-Finger Adaptive Gripper.
Please refer to the for details on standard and optional parts.
The status LED presented in the figure above will be :
l solid blue/red when booting
l solid blue when powered with no errors (while communication is active)
l solid red if minor fault occurs, see status details in the Control section.
l blinking red/blue if major fault occurs, see status details in the Control section.
2F-85 &2F-140 - Instruction Manual

1.2. 2F-85 vs. 2F-140

The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140) according to the figure below. The chassis will remain the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions. Finger kits are available in the Spare Parts and Accessories section.
Info
Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the Specifications section.
12
Fig. 1-2: The 2-Finger 85 and 140 mm versions.
2F-85 &2F-140 - Instruction Manual
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1.3. Object picking

The 2-Finger Gripper has a single actuator for opening and closing the fingers, the fingers automatically adapt to the shape of the object manipulated.
Fingers will adopt either a parallel grasp or encompassing grasp as shown in the figure below.
Info
Closing or opening is done via the "Go to requested position" command and is input to the Gripper Whether the fingers close to produce an emcompassing or fingertip grasp is decided at the Gripper level automatically. It will depend on:
l The objects's geometry;
l The relative position of the object with respect to the Gripper.
In other words, picking the same object could result in either an emcompassing or fingertip grasp based on an object's position and geometry.
Fig. 1-3: 2-Finger parallel and encompassing grips.
Info
It is important to note that a fingertip grasp can only be performed when the fingers touch the object with the upper section of the distal phalanxes first. Inversely, for an encompassing grip, the fingers must touch the object with the proximal or the lower section of the distal phalanxes first. Also, to ensure stability, the object should be held against the Gripper palm while performing an encompassing grip. Refer to the figure below for a visual representation of the parallel and encompassing grasp regions on the distal phalanx of the 2-Finger Gripper.
2F-85 &2F-140 - Instruction Manual
The 2-Finger Adaptive Robot Gripper also allows for internal grasping. The fingers can pick hollow objects from the inside by applying pressure with the outside of the fingers. Refer to the figure below for a visual representation and to the Picking Features section for details on the possible position commands of your Gripper.
14
Fig. 1-4: Finger internal and external grasping.
2F-85 &2F-140 - Instruction Manual
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The Gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grip. When grasping an object close enough to the inside (palm) of the Gripper, the encompassing grasp will occur (unless the object size or shape is not adequate) and the fingers will close around theobject.
If grasped above the equilibrium line, the same object will be picked up in a parallel grasp by the fingertips and the fingers will close with a parallel motion. The figure below shows the encompassing grasp region, the equilibrium line, and the parallel grasp region on the2-Finger Adaptive Robot Gripper.
Info
The details of the equilibrium line relation between opening angle and the related position d can be found in the Mechanical specifications section.
Fig. 1-5: Equilibrium line on the 2-Finger, shown with no fingertip pads.
Tip
Grasping an object that could be grasped by an encompassing grasp (a cylinder for example) on the equilibrium line is not recommended, as slight variations on the position will switch the grasp from parallel to encompassing and vice versa. Robot programming should be done so that the grasping mode will be predetermined.
2F-85 &2F-140 - Instruction Manual
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1.4. Setup and control

The Gripper is powered and controlled directly via a single Device Cable that carries a 24V DC supply and Modbus RTU communication over RS-485, see Section 3.5 for wiring information and Section 4 for control of the Gripper (various software packages are available for control via various robotcontrollers).
Info
Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial).
Gripper Coupling is required for 2-Finger usage, the Coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installation section for installation of the Coupling, to the Specifications section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings.
The 2-Finger has an embedded object detection feature using indirect sensing methods. When picking an object via the "go to" command, the Gripper status will allow you to know if an object is picked or not via a simple object detection bit (0 or 1). When an object is detected, the Gripper will stop. If the object is being dropped, the Gripper will automatically close to keep the object until the ''go to'' command limit is attained. For details on object detection, see Control section.
2F-85 &2F-140 - Instruction Manual

2. Safety

Warning
The operator must have read and understood all of the instructions in the following manual before handling the Robotiq 2-Finger Adaptive Robot Gripper.
Caution
The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper:
l Installation
l Control
l Maintenance
l Inspection
l Calibration
17
l Programming
l Decommissioning
This documentation explains the various components of the 2-Finger and general operations regarding the whole life-cycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product.
2F-85 &2F-140 - Instruction Manual
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2.1. Warning

Caution
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
l The Gripper needs to be properly secured before operating the robot.
l Do not install or operate a Gripper that is damaged or lacking parts.
l Never supply the Gripper with an alternative current source.
l Make sure all cord sets are always secured at both ends, at the Gripper and at the robot.
l Always satisfy the recommended keying for electrical connections.
l Be sure no one is in the robot and/or Gripper path before initializing the robot's routine.
l Always satisfy the Gripper payload.
l Set the Gripper pinch force and speed accordingly, based on your application.
l Keep fingers and clothes away from the Gripper while the power is on.
l Do not use the Gripper on people or animals.
l For welding applications, make sure there are no Gripper parts on the ground path of the welding power source.
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.

2.1.1. Risk assessment and final application:

The Robotiq 2-Finger Adaptive Gripper is meant to be used on an industrial robot. The robot, Gripper and any other equipment used in the final application must be evaluated with a risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are respected. Depending on the application, there may be risks that need additional protection/safety measures, for example, the work-piece the Gripper is manipulating may be inherently dangerous to the operator.
2F-85 &2F-140 - Instruction Manual

2.2. Intended Use

The Gripper unit is designed for grasping and temporarily securing or holding objects.
Caution
The Gripper is NOT intended for applying force against objects or surfaces.
The product is intended for installation on a robot or other automated machinery and equipment.
Info
Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety.
The unit may be used only within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.
19
2F-85 &2F-140 - Instruction Manual

3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper.
l The Scope of Delivery section
l The Required Tools and Equipment section
l The Environmental and Operating Conditions section
l The Mechanical Installation section
l The Electrical Setup section
l The Testing the Gripper with the Robotiq User Interface (RUI) section.
l The Installation for Universal Robots section
l The URCap Package section
Warning
20
Before installing:
l Read and understand the safety instructions related to the 2-Finger Adaptive Robot Gripper.
l Verify your package according to the Scope of delivery and your order.
l Have the required parts, equipment and tools listed in the requirements readily available
Warning
When installing:
l Satisfy the environmental conditions.
l Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is cleared.
The fingers of the Gripper may move and cause injury or damage.
2F-85 &2F-140 - Instruction Manual
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3.1. Scope of Delivery

3.1.1. UR Kit

Robotiq 2-Finger Adaptive Gripper 85 (AGC-UR-KIT-002) Robotiq 2-Finger Adaptive Gripper 140 (AGC-UR-KIT-140)
Standard upon delivery:
l Robotiq 2-Finger Adaptive Gripper 85 complete unit:
AGC-GRP-002
l 85 mm opening fingers without fingertips or pads (these are
bought separately unless specified)
l Palm pad
l USBto RS485 signal converter: ACC-ADT-USB-RS485
l Coupling according to your robot bolt pattern:
GRP-CPL-062
Info
Please refer to the Spare Parts, Kits and Accessories section for a list of availablecouplings.
l Robotiq device cable:
l CBL-COM-2065-10-HF for 10 meters cable
Standard upon delivery:
l Robotiq 2-Finger Adaptive Gripper 140 complete unit:
AGC-GRP-140
l 140 mm opening fingers without fingertips or pads (these
are bought separately unless specified)
l Palm pad
l USBto RS485 signal converter: ACC-ADT-USB-RS485
l Coupling according to your robot bolt pattern:
GRP-CPL-062
Info
Please refer to the Spare Parts, Kits and Accessories section for a list of availablecouplings.
l Robotiq device cable:
l CBL-COM-2065-10-HF for 10 meters cable
Info
The following are not included in standard delivery:
l Options such as adapter plates or couplings for mounting on various industrial robots, fingertips or finger pads.
l Hardware required for options; accessories or fixtures for the 2-Finger Adaptive Robot Gripper, unless specified.
l Power supply units, power supply wiring or fuses.
Info
When bought as a kit, the 2-Finger 85 or 140 will come in a package with the appropriate coupling, fingertips or finger pads and cabling. Please refer to the Spare Parts, Kits and Accessories section.

3.2. Required Tools and Equipment

The following tools are required to install the 2-Finger Adaptive Gripper:
l 4 mm hex key to mount the Gripper onto its coupling.
l Metric hex key according to your coupling to mount the coupling onto the robot.
Optional tools if installing finger kits: AGC-FIN-KIT-085 or AGC-FIN-KIT-140:
l 2 mm hex key
2F-85 &2F-140 - Instruction Manual
Optional tools if installing other fingertips: AGC-TIP-204-085, AGC-TIP-205-085, AGC-TIP-420-140, AGC-TIP-420-140
l 4 mm hex key
The following parts are required for setup :
l Power supply (see below).
l Fuse (if applicable), see information below.
l Emergency stop is not provided, but its use is strongly advised.
The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. Required power supply must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the Gripper and the optional Robotiq Controller.
SPECIFICATION VALUE
Output voltage 24 V DC ±10%
Output current 1 A
Recommended power supply with internal protection, otherwise fusing is
Overcurrent
2 A fuse at 25°C [77°F]
required.
1
Table 3-1: 2-Finger power supply requirements.
22
Info
1
Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring.
Warning
If your power supply could exceed the specified regulation, over-voltage protection is required.
Robotiq recommends the use of the following power supplies:
l For the 1A output current: TDK-Lambda DPP Series,
100W Single Output DIN Rail Mount Power Supply
Tip
Optional Robotiq Universal Controller can use the same power supply.

3.3. Environmental and Operating Conditions

CONDITION VALUE
Minimum storage/transit temperature
Maximum storage/transit temperature
-30°C [-22°F]
60°C [140°F]
: DPP30-24.
Minimum operating temperature -10°C [14°F]
2F-85 &2F-140 - Instruction Manual
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CONDITION VALUE
Maximum operating temperature 50°C [122°F]
Humidity (non-condensing) 20-80% RH
Vibration < 0.5G
Other
Table 3-2: Environmental and operating conditions of the 2-Finger Adaptive Gripper.

3.4. Mechanical Installation

3.4.1. Installing fingers on the Gripper

l Free from dust, soot or fluids
l Free from corrosive liquids or gases
l Free from explosive liquids or gases
l Free from powerful electromagnetic inter-
ference
Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers. Refer to the figure below for finger placement. To do so :
1. Align fingers with chassis axes. To do so, the slot on the finger bar should be aligned correctly with the corresponding chassis axis.
2. Insert the finger shaft in the finger bar bracket hole and through the chassis axis (top hole is for parallel locking while bottom hole is for finger installation)..
3. Apply medium strength threadlocker on the provided screws, align the finger bar and fasten to the chassis/chassis axis.
Fig. 3-1: 2-Finger Adaptive Gripper installation.
2F-85 &2F-140 - Instruction Manual

3.4.2. Installing the fingertips on the Gripper

Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so:
1. Align the fingertip indexing pins with the finger dowel holes.
2. Insert the M5 X 10 low head cap screws and screw on after applying low strength threadlocker.
24
Fig. 3-2: Installing the fingertips on the Gripper
2F-85 &2F-140 - Instruction Manual
25

3.4.3. Installing a Protector Kit on the Gripper Fingers

An optional protector kit (AGC-PRO-KIT-V4) can be ordred to cover the fingers of the 2F-85 and therefore protect users and assets against pinch points.
You can install them using eight (8) M3 screws.
Fig. 3-3: Protector Kit Installation

3.4.4. Installing the Gripper onto the robot

Single Gripper
You must use a coupling to attach the Gripper to the robot. Be sure to use the coupling related to your robot model. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your own coupling or adapter plate you can refer to the Coupling section. To see the details of the available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section.
Here are the steps to follow to mount the Gripper to your robot (exploded view in the figure below). Note that all screws must be locked in place using medium strength threadlocker.
1. Screw the adapter plate or the coupling to the robot (if adapter plate is required).
2. Screw the coupling to the adapter plate (if applicable).
3. Screw the Gripper onto its coupling.
2F-85 &2F-140 - Instruction Manual
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Fig. 3-4: Installing the Gripper to a robot using an adapter plate and coupling.
2F-85 &2F-140 - Instruction Manual
27
Multiple Grippers
When installing multiple grippers on one robot, every gripper must have its own coupling.
1. Install a mounting plate (not provided) first on the robot arm (AGC-APL-159-02).
2. Mount the gripper couplings on the mounting plate using the provided M6 X 10 mm screws.
3. Mount the grippers onto their coupling using the provided M5 X 35 mm screws.
Fig. 3-5: Exploded View of a Dual Gripper Setup
2F-85 &2F-140 - Instruction Manual

3.5. Electrical Setup

Power and communication are established with the 2-Finger Adaptive Robot Gripper via a single Device Cable. The Device Cable provides a 24V power supply to the Gripper and enables serial RS485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the Gripper and the network / robot controller if fieldbus communication is required.
Info
RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. 4 GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the user's discretion.
Gripper grounding is optional and is done via the robot ground. The coupling indexing pin (dowel) is the ground connector. Gripper coupling, chassis and proximal phalanx are linked as illustrated in the figure below. They link through the coupling indexing pin to the robot ground. Proximal bars, distal phalanx, fingertip base and fingertips are isolated.
28
Fig. 3-6: Robotiq 2-Finger electrical isolation / grounding.
2F-85 &2F-140 - Instruction Manual
29

3.5.1. Pinout Interface

The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface.
Info
The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6.

3.5.2. Coupling to controller

If a Robotiq Universal Controller is used, please refer to the Robotiq Universal Controller manual. The figure below represents the wiring schematic of the 2-Finger with device cable, power supply, fuse (please refer to the Required Tools and Equipment section) and grounding.
Fig. 3-7: Robotiq 2-Finger with pigtail cable and device cable wiring schematic.
2F-85 &2F-140 - Instruction Manual
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller-side (robot side) connector of the cable with a strain relief cable clamp.
The figure below represents the 2-Finger pigtail connector from the coupling (AGC-CPL-XXX), device cable - robot side (CBL-COM-2065-XX) and their associated pinout.
30
Fig. 3-8: Pinout of the 2-Finger pigtail and device cable.
If additional cable is used, suggested cable specifications are as follows:
Power supply, fusing:
l minimum #22 AWG TEW, 300 V or 600 V
RS485 signals :
l minimum #24 AWG TEW, 300 V or 600 V
l A and B signals must be balanced at 120 Ohms
Single Gripper
Prior to any software installation on Universal Robots, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-USB-RS485) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the controller according to that same figure.
2F-85 &2F-140 - Instruction Manual
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