2F-85 & 2F-140 - Instruction Manual
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. Refer to the Electrical Setup section for wiring information and the Control section for control of the gripper (various
software packages are available for control via various robot controllers).
A gripper coupling is required for using 2-Finger, 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
object is detected or until the position target from the ''go to'' command is reached. For details on object detection, see Control
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