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How to control 3F Gripper on TM/Omron robot?

One of our integration coaches was able to integrate a 3-Finger Gripper on a TM Robot! Since the robot is able to use the TCP/IP communication protocol, it is entirely possible to do this.

 Please note that there are no TMComponents to use the 3-Finger Gripper with TM/Omron robots.

 

Knowledge

 

The 3F is quite large compare to Hand-e or 2F gripper. The 3F gripper have to be offset from the flange to be able to mount the 3F gripper without entering in collision with the camera.
Hopefully Robotiq have an adaptor plate to offset the 3F. The plate have been initially designed to offset the 3F on UR robot flange so that the 3F does not enter in the field of view of the Robotiq wrist camera.

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With this setup the distance between the gripper and the camera is quite close. The CAD assembly indicate a 1.52mm clearance.
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Necessary items for integration are:

  • AGS-001-MTCP (3-F Gripper - Modbus TCP/IP)
  • AGS-APL-173 (Wrist Adapter Plate S-173)
  • AGS-CPL-101 (3-Finger Coupling S-101 )