The MEGP 25 electric gripper is designed and supplied with an assembly kit for only one type of installation. If you want to mount the gripper on the flange of the Meca500 in a different way, you need to design and machine your own adaptor plate. An installation other than the one shown here may limit the range of motion of joint 6 and may result in damage to the gripper and/or the robot.
Before installing 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. a, follow the procedure explained in Section 2.2.1 of the Programming Manual of the Meca500 (R3).
To install the gripper, switch OFF the robot, and follow these steps:
Remove the screw cap from the I/O tool port and store it for future use.
Make sure that you did zero joint 6 prior to powering ON the robot and that the screw on the flange of the robot is as shown in Fig. a
Attach the adaptor plate in the exact orientation shown in Fig. b (there is another possible but incorrect orientation) using the four M3X0.5X8 Torx at head screws provided. Do not use any other screws. Using longer screws will damage joint 6.
Attach the gripper exactly as shown in Fig. c using the two M2.5X0.45X20 socket head screws provided.
Finally, attach the connector of the gripper to the I/O tool port of the robot, as shown in Fig. d. It is very important that the robot be unpowered during this operation
WARNING: The MEGP25 gripper is not hot-pluggable. You should never screw or unscrew its cable while the robot is powered. Otherwise you 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 and will stay so as long as the gripper is active.
Finally, when the robot is homed, the gripper will also be homed at the very end, fully opening its ngers and then fully closing them. This homing procedure is necessary in order to detect the range of motion of the ngers, in case their design reduces the nominal 6-mm range. Once the gripper is homed, the green LED on the gripper will be illuminated and will stay so as long as the gripper is active