2F-85 & 2F-140 - Instruction Manual
Installation with the UR Wrist connection Kit for CB-Series (I/O Coupling)
I/O Coupling: General Presentation and Nomenclature
The Robotiq I/O Coupling is a robotic peripheral designed to allow a direct connection of the Robotiq 2F-85 & 2F-140 Grippers to the
Universal Robots CB-Series tool flange. It removes the need of any cable management and avoids downtime caused by cable issues.
The robot sends I/O signals to the coupling which sends Modbus RTU commands to the gripper based on four possible presets. The
presets are determined by the I/O signals.
Fig. 3-3: Robotiq I/O Coupling
The status LED, integrated in the micro-USB port presented in the figure above, will be:
l
Solid blue/red when booting
l
Solid red when looking for product or waiting for communication
l
Solid blue when powered with no errors (while communication is active)
l
Solid green when communicating with USB
Info
The object detection feature remains available with the I/O Coupling. The position feedback, however, is not available due to
the robot tool connector nature.
The I/O Coupling comes with four (4) factory presets, as shown in the table below. These presets can be reconfigured on a computer
before using them on a robot.
Info
To configure your own presets, please follow the instructions in the Robotiq User Interface (RUI) manual, available on
.
24
