This procedure details how to properly mount and align the following gripper options for the Haas Cobot 15 (HC15):

1. HC15 Dual Gripper - 09-0726
2. HC15 Single Gripper - 09-0727

This procedure can be used as a reference when installing grippers for the first time, or swapping out a new gripper assembly. Refer to the HC15 Installation page for more details on installing a new cobot.

For HC15 Dual Grippers (09-0726):

Jog the cobot so that you have access to install the grippers. Use the electrical connector on joint 6 of the arm [3] to properly align the dual gripper mounting plate [1].

The electrical connector [3] should be lined up in between the top two fasteners [4] with gripper 1 on the left and gripper 2 on the right as shown in the image.

Fasten the gripper's mounting plate [1] to the end of the cobot using the 7 SHCS [2].

Install the dual gripper assembly onto the mounting plate. Fasten the grippers to the mounting plate using the 8 SHCS [1] fasteners and washers as shown in the image. 

Note: Make sure that the labels "1" and "2" on the gripper assembly [2] are lined up with the corresponding labels on the mounting plate.

For HC15 Single Grippers (09-0727):

Jog the cobot so that you have access to install the grippers.

Fasten the gripper's Mounting Plate [1] to the end of the cobot using the 7 SHCS [2] and washers. The alignment needs to be verified when installing the mounting plate.

To verify the alignment, make sure that the electrical connector [3] is lined up in between the 2 top mounting holes [4] as shown in the image.

Fasten the single gripper assembly [1] to the mounting bracket [3] using the 4 SHCS and washers [2]. Make sure that the gripper assembly is oriented so that the air hose fittings [4] are located toward the top of the mounting plate.

Configure the dual air solenoid assembly used for pneumatic grippers depending on single [1] or dual [2] gripper configuration. 

For single grippers [1], connect the incoming air to the to the fitting [2] and keep the the plug in the other end of the fitting [3] as shown in the image.

For dual grippers [4], remove the plug in the fitting [3] and attach a small air hose to the second solenoid [5]. Then connect the incoming air hose to the fitting [2] so that both solenoids are receiving air.

For the Single Gripper:

Route the (x2) air lines from the gripper to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the cobot. Make sure there is enough slack so that cables aren't strained when cobot is fully extended.

Insert the input air hose to the used solenoid's fitting [1]. 

Make sure the plug is installed onto the unused solenoid's fitting [2]. 

For the Dual Gripper:

Route the (x2) air lines from gripper #1 to the same color coded fitting on the dual air solenoid assembly. 

Route the (x2) air lines from gripper #2 to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the cobot. Make sure there is enough slack so that cables aren't strained when cobot is fully extended.

Insert the short airline [1] connecting the first solenoid with the second. 

Insert the input air hose to the fitting [2]. 

Install the dual air solenoid assembly on to the side of the pedestal while giving the airlines enough slack. Make sure it's in a position where it will not be in the way. Route the airline [1] under the machine back towards the CALM cabinet as shown.

Inside the CALM cabinet, remove a plug from one of the CALM manifold ports and install the check valve [1] (58-1863) onto the port's fitting. Route the input airline [2] from the dual air solenoid assembly (from previous step) into the CALM cabinet and connect the airline to the check valve.

Turn the machine air supply ON.

Make sure to power OFF the control box [1].

Connect the solenoid cable from the dual air solenoid assembly [2] into the Digital Output on the Cobot control box [1]. Remove the connector from Cobot control box.

Install the different colored wires into their respective location:

• Black/white cable into 0V
• Black cable into DO0
• Orange/white cable into 0V
• Orange cable into DO1
• Red/white cable into 0V
• Red cable into DO2
• Brown/white cable into 0V
• Brown cable into DO3

Power ON the control box.

On the Haas pendant, press [CURRENT COMMANDS].

Go to Devices>Robot>Jogging tab. Change the following:

• Maximum Jogging Speed to 7.9 inch/sec

Go to the Setup tab. Change the following:

• Max Robot Speed to 118 in/sec (2000 mm/sec). 
• Enter the Net Mass of the gripper. Refer to the layout drawings on our website (Single Gripper layout drawing OR Dual Gripper layout drawing) to get the correct value for this setting

• Number of Grippers to the number of grippers.
• Raw Gripper Clamp Output to 4.
• Raw Gripper Unclamp Output to 3.
• Raw Gripper Clamp Delay to the clamp/unclamp duration in sec.
• Raw Gripper Clamp Type to OD/ID.
• Finish Gripper Clamp Output to 2.
• Finish Gripper Unclamp Output to 1.
• Finish Gripper Clamp Delay to the clamp/unclamp duration in sec.
• Raw Gripper Clamp Type to OD/ID.