This procedure details how to properly mount and align the following gripper options for the Haas Cobot 5 (HC5):

1. HC5 Single Gripper - 09-0740

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 HC5 Installation page for more details on installing a new cobot.

Jog the robot so that you can easily access the end joint. This will allow for easier installation of the grippers assembly.

Install the gripper mounting plate [1] to the end joint of the cobot using the 4 SHCS and washers [2]. 

Note: Make sure that the mounting plate has the correct orientation when installing it. The mounting plate should be aligned so that the electrical connector [3] is at the top of the bracket as shown in the image. 

Note: There is an extra bore in the face of the end joint. This hole is slightly larger than the 4 fastener bores, and should not be used to mount the grippers.

Install the HC5 single grippers assembly [1] to the grippers mounting plate using the 4 SHCS and washers [2]..

Make sure that the air hose fittings [3] are oriented towards the top of the of the mounting plate as shown in the image.

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]. 

Install the dual air solenoid assembly [1] on to the side of the mounting bracket [2] while giving the airlines enough slack.

Make sure it's in a position where it will not be in the way of the cobot or operators working around the machine.

Route the airline [3] under the machine back towards the CALM cabinet [4] 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 [3]. 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)  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.