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Mechanical assembly

The assembly is shown in the repository's video; a PDF manual is in preparation. Watch the video once before you start, with the parts in front of you.

Open the video on YouTube

The order

Touch earthed metal before you pick up the driver, and hold it by its edges: static electricity damages it.

  1. The driver first: calibrated, in gripper mode, with the thermistor, as Driver setup and first run describes. The motor calibration turns the stepper several revolutions, which the racks cannot follow, so it happens before the pinion meshes.
  2. The brass inserts into the printed parts with a soldering iron.
  3. The rail with its two carriages into the body, the racks onto the carriers.
  4. The stepper, with the pinion on its shaft and the driver on its back, into the body so that the pinion meshes with both racks; the thermistor's leads to the driver.
  5. The driver's power and CAN cables to the M8 connector in its lid; the lid onto the body.
  6. The stepper cover over the driver, with the termination switch reachable through its opening.
  7. The coupler plate with the shaft coupler on the back, or ring_cover-PAROL6 for the PAROL6 wrist.
  8. The jaws onto the carriers, the camera into its mount.

Check

With the supply off, push one jaw by hand over the whole stroke: both jaws move together, smoothly, without a tight spot, and nothing rubs on the cable. The termination switch is reachable through the stepper cover. A stiff spot now makes the gripper calibration stop short later (Calibration).

The cable

The gripper's cable is not in the box. The cable has the parts, the wiring diagrams for PAROL6 and PAR6, and the warning that the two are not interchangeable; the repository's cable guide is the original.

The jaws

Printing, gluing and padding the jaws: Printing the parts and Jaws.

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