English

AG-95L
Two-Finger Self-Adaptive Gripper

QUICK START GUIDE

 THANK YOU FOR
CHOOSING DH-ROBOTICS
This quick start guide will enable you to
finish the installation and commissioning
processes for AG-95L.
 What’s in
1. the BOX

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6

This package includes

1 2-Finger self-adaptive gripper AG-95L
2 Mounting flange
3 Aviation cable
4 Power cable/ LAN cable
5 Protocol converter
6 Screws, pins and tools for installation

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 Mechanical
2. Installation

M3*6 Dowel Pin

(Optional)*2

M6*12 Screw*4

Flange

M6*8 Dowel Pin

(Optional)

Mount the flange onto

your robot arm. Align
with the provided M6
dowel pin.

Install the flange with

M6 screw.

Mount the Gripper

onto the Flange. Align
with the provided M3
dowel pin. 2
 Mechanical
2. Installation

M4*10
Screw*4

Install the
gripper with
M4 screw.

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3
 Dimensions of
3. the standard flange

60
+0.05
7±0.01 0.50 0
A 4-Ø 6.6×90 °

32±0.01

11.47
60

5
R14.50
+0.02 0.50
2-Ø 3 0 3.5
8.69
-0.01
Ø 31.50 -0.03
b 0.02 A
1.6

4-Ø 4.5 Through

7.5 4
24

42.30

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 Dimensions of
3. the standard flange

+0.02
Ø6 0 4 Ø 50±0.01

The dimensions of standard

flange are shown on the left.

Standard flage is designed for

UR and Aubo collaborative
robot arms. If the standard
flange can’t fit on your robot
arm, you can make your own
flange by changing the param-
eters in red square following
the parameters of your robot
arm.

If you are unable to make your

own flange, please contact us
by

support@dh-robotics.com
+86 755 82734836

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 Electrical
4. Installation
Connect the gripper and the interface converter with
the provided aviation cable

Plug the bent end of the cable onto the gripper end.
Plug the straight end of the cable onto the converter.

L H

24V DC CAN USB Ethernet

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 Electrical
4. Installation

24V
24V
0V 0V

POWER CABLE

Ethercat
Plug the LAN cable
into the aubo control
box.

Connect the red wire

to the 24V pin in the
aubo control box.

Connect the black

wire to the 0V pin in
the control box.

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 Robot arm
5. cable Routing

Fasten the gripper con-

nection cable to the arm
as shown on the left.
Ensure that there is suffi-
cient free cable length at
the joints, in order not to
restrict the freedom of
movement of the robot
during operation.

Test the rounting before

operating by using the
robot arm’s Freedrive
Mode.

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 Customizing
6. Fingertip

If the standard finger

tips cannot fulfill the
application require-
ment, the fingertip of
AG-95L can be cus-
tomized for different
working situations.

Refering the dimension

of finger base on the
top, customer can
make best fit fingertip.

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7. Specifications

Mechanical Specifications
Stroke（Programmable） 0~95 mm

Grip force（Programmable） 30~95 N

Max payload(Standard fingertip） 9.5 kg*

Max closing speed 95 mm/s
Gripper mass 0.92 kg

Kinematics Parallel / Adaptive

Repeatability 0.05mm
Electrical, Communication Specifications

Communication protocol TCP/IP, USB2.0, I/O, RS485, CAN Bus

Nominal supply voltage 24V DC ±10%

Integration Plug & Play for collaborative robots,
support industrial robots and ROS
* Safty factor of 1.8

95MM

21MM

work area

184MM 210MM

58MM 58MM
Parallel gripping Adaptive gripping

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 Aubo Plugin
8. Installation
For integration with Aubo Robots, AG-95L is compatible
with Aubo i3, i5, i7 and i10, with a 4.3.0 or higher version of
aubo control system.

Plug in the DH USB stick in to the Aubo control box.

Drag file named libAG_95L.so from USB stick to file home/AuboRo-

botWorkSpace/techpendant/lib/teachpendant/plugins

Restart aubo robot.

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 Aubo Plugin
8. Installation

Click Setting -> System -> Network，select interfaces

Set IP Address: 192.168.1.60

Netmask: 255.255.255.0
Gateway: 192.168.1.1

Click Save

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 Connect and
9. Activation of the Gripper

Click Extensions -> AG_95L -> Setting ,

Select Connection mode
Tap Connect Button

If connect success , status will turns from“ Disconnect”to“Con-

nected but not activated”

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 Connect and
9. Activation of the Gripper

Tap Activate button and wait util the status turns

from
“Connected but not activated”
to
“Connected and activated”

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 Control and
10. Programming the Gripper

Click Extensions -> AG_95L -> Control

User can test and control the gripper under this section.

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 Control and
10. Programming the Gripper

First digit: (0~90)

to control move to set position

Second digit: (30~90)

to control gripping froce

Third digit: (true or false)

true=start next move after gripper finish movement
false=start next move with gripper movement

In Program, add Advanced Condition : Script

Enter“script_common_interface(“AG_95L”,”set_grip-
per_param|90,90,true”);

Tap confirm button to save condition

Tap Step button to test scipt

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ORDER INFORMATION
& WARRANT Y
Below are your product type and serial number.
Please keep this infomation handy.

New product has a 1 year warranty after sold.

Website: www.dh-robotics.com
E-mail: support@dh-robotics.com
Tele: +86 755 82734836
Address：A401-402, Industrialization building, Virtual Universi-
ty Park, Yuexing 3rd Road, Nanshan, Shenzhen, China, 501857