SOFTCLAW —
13
#
INSTRUCTIONS
2 Center (4) on the diameter 63 mm of (2), taking
care that the plug fits into one of the four d6 mm
through holes.
3 Fix axially the device by tightening the 8 screws
(5).
Max Tightening Torque, TT
max
=2.1 Nm.
You need the 2 mm Allen wrench.
Table 1. —
Installation guidelines of the qb SoftClaw on robot arm.
5.2 Cable connections for Universal Robots
This section illustrates how to wire the qb SoftClaw in order to exploit the button on the wrist
flange as a trigger for a Universal Robots Digital Input. This button allows to customise the
behaviour of the robot, such as enabling
freedrive
mode when it is pressed.
This is an optional configuration. For general wiring or for old qbSoftClaw releases (without
button) see
To correctly connect the external power supply, follow the UR User Guide: Electrical Interface
–
Controller I/O.
This wiring procedure must be done while the robot is powered off.
