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      How to install the MEGP25E Gripper - Mecademic

       


      The MEGP 25E electric gripper is designed and supplied with an assembly kit for only one type of installation. If you would like to mount the gripper on the flange of the Meca500 in a different way, you must design and machine your own adaptor plate.

       

      Note: An installation other than the one shown on this page may limit the range of motion of joint 6, and may result in damage to the gripper and/or the robot.


      Prior to installing the gripper


      Before you install the gripper, turn the robot on and bring all joints to zero degrees. If the screw on the flange of the robot is not as in Fig 1(a) below, follow the procedure explained in Section 2.2.1 of the Programming Manual of the Meca500 (R3).

       

      (a)The robots flange at ?6 = 0° (b) The adaptor attached in the correct orientation
      (c) The gripper attached (d) The gripper completely installed

      How to install the gripper

      1. Switch the robot OFF

      2. Remove the screw cap from the I/O tool port and store it for future use.

      3. Make sure that you brought joint 6 to zero prior to powering ON the robot. Make sure that the screw on the flange of the robot is as shown in Fig 1(a).

      4. Attach the adaptor plate in the exact orientation shown in Fig. 1(b) (there is another possible but incorrect orientation) using the four M3X0.5X8 Torx head screws provided. Do not use any other screws. Using longer screws will damage joint 6.

      5. Attach the gripper exactly as shown in Fig 1(c) using the two M2.5X0.45X20 socket head screws provided.

      6. Finally, attach the cable provided (there are two types of cables) to the gripper and to the I/O tool port of the robot, as shown in Fig 1. (d). Note: It is very important that the robot is switched OFF during this operation.

      WARNING: The MEGP25 gripper is not hot-pluggable.
      Do not screw or unscrew its cable while the robot is powered.
      Doing so may damage both the robot and the gripper.

       

      Once the gripper is completely installed, you can start using your robot. When the Meca500 is activated, it will automatically detect the gripper, and the red LED on the gripper will be illuminated. It will stay illuminated for as long as the gripper is active.


      When the robot is homed, the gripper will also be homed at the very end, fully opening its fingers and then fully closing them. This homing procedure is necessary in order to detect the range of motion of the fingers, in case their design reduces the nominal 6-mm range. Once the gripper is homed, the green LED on the gripper will be illuminated. It will stay illuminated for as long as the gripper is active.