ROBOTIQ HAND-E, Original Notice

Page 1: ...Robotiq Hand E for Hanwha Robots Instruction Manual robotiq com leanrobotics org Original Notice 2019 Robotiq Inc ...

Page 2: ...ion 18 3 4 1 Installing the fingers fingertips holders on the Gripper 18 3 4 2 Installing the Gripper onto the robot 20 Single Gripper 20 3 5 Electrical Setup 21 3 5 1 Pinout Interface 21 3 5 2 Coupling to controller 21 Single Gripper 24 3 6 Testing the Gripper with the Robotiq User Interface RUI 24 3 7 Installation for Hanwha Robots 27 3 7 1 Installing the plugin 27 3 7 2 Uninstalling the plugin ...

Page 3: ...anwha Using the Plugin 58 4 8 1 Gripper Dashboard 58 5 User Interface 62 6 Specifications 63 6 1 Technical dimensions 64 6 1 1 Couplings 65 6 1 2 Fingers and fingertips 67 Rack 67 Basic aluminum finger 68 Fingertip holder 68 Flat silicone fingertip 69 Grooved fingertip 70 6 2 Mechanical specifications 71 6 2 1 Specifications 71 Payload and force 72 Maximum payload External force vs Custom finger d...

Page 4: ... mechanism cleaning 83 8 Spare Parts Kits and Accessories 84 9 Troubleshooting 86 10 Warranty and Patent 87 11 Contact 88 12 Harmonized Standards Declarations and Certificates 89 12 1 Translation of original EC declaration of incorporation 89 12 2 Applied standards 90 12 3 Ingress Protection Certificate 91 4 ...

Page 5: ...n necessary due to product improvements modifications or changes in specifications If such modification is made the manual will also be revised see revision information See the latest version of this manual online at support robotiq com Revision 2019 05 17 l First publication of the Instruction Manual 5 ...

Page 6: ...her for sale or not without prior written consent from Robotiq Under copyright law copying includes translation into another language or format Information provided by Robotiq in this document is believed to be accurate and reliable However no responsibility is assumed by Robotiq for its use There may be some differences between the manual and the product if the product has been modified after the...

Page 7: ...ace and handle a large range of parts of varying sizes and shapes Note The following manual uses the metric system Unless otherwise specified all dimensions are in millimeters Note The following section presents the key features of the Gripper and must not be considered as appropriate to Gripper operation each feature is detailed in the appropriate section of the manual Safety guidelines must be r...

Page 8: ...l gripper Its two fingers are actuated by a single motor Fig 1 1 Robotiq Hand E Please refer to the Scope of Delivery section and Spare Parts Kits and Accessories section for details on standard and optional parts The Hand E basic gripper unit includes aluminum fingers as shown in the figure above 8 ...

Page 9: ...rtips to Hand E Fig 1 2 Mounting of a finger on a rack When ordered as a kit please refer to the Scope of Delivery section a fingertip starting kit is included please refer to the Spare Parts Kits and Accessories section These fingertips should be mounted onto fingertip holders Fig 1 3 Mounting of a fingertip on a fingertip holder example Tip It is possible to customize your own fingers or fingert...

Page 10: ... also allows internal gripping The fingers can pick hollow parts from the inside by applying pressure with the outer surface of the fingers See the figure below for a representation and refer to the Picking Features section for details on the possible position commands of your Gripper Fig 1 4 Hand E Gripper internal and external gripping 10 ...

Page 11: ...ovide mechanical and electrical connectivity Please refer to the Mechanical Installation section for installation of the coupling to the Technical dimensions section for technical drawings and to the Spare Parts Kits and Accessories section for available couplings The Hand E Gripper has an embedded object detection feature using indirect sensing methods When picking an object with the go to comman...

Page 12: ...served between those and the delivered product 2 1 Warning Info Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage Warning l The Gripper needs to be properly secured before operating the robot l Do not install or operate a Gripper that is damaged or lacking parts l Never supply the Gripper with an alternative current source l Make sure all cor...

Page 13: ...equire additional protection safety measures for example the work piece the Gripper is manipulating might be inherently dangerous to the operator 2 2 Intended Use The Gripper unit is designed for gripping and temporarily securing or holding objects Caution The Gripper is not intended for applying force against objects or surfaces The product is intended for installation on a robot or other automat...

Page 14: ...ackage according to the scope of delivery and your order l Have the required parts equipment and tools listed in the requirements readily available Warning When installing l Meet the recommended environmental conditions l Do not operate the Gripper or even turn on the power supply before it is firmly anchored and the danger zone is cleared The fingers of the Gripper may move and cause injury or da...

Page 15: ...n for a list of available couplings l Robotiq device cable CBL COM 1065 10 HF Caution The following are not included in the standard delivery l Options such as adapter plates or couplings for mounting on various industrial robots fingertips or finger pads l Hardware required for options accessories or fixtures for the Hand E Gripper unless specified l Power supply units power supply wiring or fuse...

Page 16: ... with the Gripper Required power supply must match the Robotiq device The following table shows the specifications with regards to the power supply required to operate the Gripper and the optional Robotiq Controller SPECIFICATION VALUE Output voltage 24 V DC 10 Output current 1 A Overcurrent Recommended power supply with internal protection otherwise fusing is required 2 A fuse at 25 C 77 F 1 Tabl...

Page 17: ...ture 30 C 22 F Maximum storage transit temperature 70 C 158 F Minimum operating temperature 10 C 14 F Maximum operating temperature 50 C 122 F Humidity non condensing 20 80 RH Maximum vibration storage transit 5G Maximum vibration operating 2G IP Rating IP 67 Table 3 2 Environmental and operating conditions of the Hand E Gripper 17 ...

Page 18: ...ical Installation 3 4 1 Installing the fingers fingertips holders on the Gripper The figures below list the material and tools needed to mount fingers or fingertips holders onto the racks of the Hand E Gripper Fig 3 1 Mounting the fingers on the racks 18 ...

Page 19: ...Robotiq Hand E Gripper Instruction Manual Fig 3 2 Mounting fingertips on holders and then on the racks 19 ...

Page 20: ...Gripper Here are the steps to follow to mount the Gripper to your robot see figure below Note that all screws must be locked in place using medium strength threadlocker 1 Screw the coupling to the robot 2 Screw the Gripper onto its coupling Fig 3 3 Installing the Gripper onto the robot wrist 20 ...

Page 21: ...r s discretion 3 5 1 Pinout Interface The Gripper interfaces with its coupling via a 10 spring pin connector located on its outer surface Info The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409 1 50 4 M6 3 5 2 Coupling to controller An optional Robotiq Universal Controller may be used between the Gripper and the network robot controller if fie...

Page 22: ... cabling to allow movement of the Gripper along all axes without pulling out the connectors Always protect the controller side robot side connector of the cable with a strain relief cable clamp The figure below illustrates the Hand E Gripper pigtail connector from the coupling GRP CPL 062 or AGC CPL XXX 002 the device cable on the robot side CBL COM 2065 10 HF and their associated pinout 22 ...

Page 23: ...and E Gripper pigtail and device cable If additional cables are used suggested cable specifications are as follows Power supply fusing l minimum 22 AWG TEW 300 V or 600 V RS485 signal l minimum 24 AWG TEW 300 V or 600 V l A and B signals must be balanced at 120 Ohms 23 ...

Page 24: ... RUI refer to the instruction manual of the RUI Use the provided RS 485 to USB converter ACC ADT USB RS485 refer to the figure below to plug into a PC with the Robotiq User Interface installed 2 Power up your Gripper with the previously recommended power supply 3 Execute the RUI software and select auto connect on the connection screen 4 You are now connected to your Gripper you can click activate...

Page 25: ...Robotiq Hand E Gripper Instruction Manual Fig 3 6 RS 485 to USB converter ACC ADT USB RS485 pinout 25 ...

Page 26: ...ter Tip With the RUI controlling the Gripper you can go to the view menu to see input and output register values to further your understanding on how to command the Gripper You can also test gripping your parts with various speed and force settings Please refer to the Control section for details 26 ...

Page 27: ...plugin at the root of the USB stick 3 Insert the USB stick in the teach pendant or controller 4 In the left pane select Management 5 Tap on Plugin Management tab 6 Tap the Add button to launch the file explorer Then the external and internal storage paths are displayed Fig 3 8 Plugin management menu with Add button highlighted 7 Select the plugin you want to install and click the OK button Fig 3 9...

Page 28: ...ctly installed it appears in the Management Menu Restart the system should you want newly installed plugins to be visible in the Management Menu 3 7 2 Uninstalling the plugin 1 In the Plugin Management menu select the plugin you want to delete and press the Delete button Fig 3 11 Plugin Management menu with check box and Delete button highlighted 2 For normal plugin deletion restart your system Us...

Page 29: ...ized movement is initiated via a single Go to requested position command Parallel or encompassing grip is performed automatically A built in object detection feature is available the user can be notified after an object is picked once the Go to command has been initiated Engage directional open or close auto release for emergencies Control using registers The Gripper has an internal memory that is...

Page 30: ...Robotiq Hand E Gripper Instruction Manual Fig 4 1 Hand E control logic overview 30 ...

Page 31: ...e functionalities and status registers Register Robot Output Functionalities Robot Input Status Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT Byte 6 to 15 RESERVED RESERVED Table 4 1 Registers of the Hand E Gripper 31 ...

Page 32: ...o action moves the Gripper fingers to the requested position using the configuration defined by the other registers rGTO will engage motion while bytes 3 4 and 5 will determine aimed position force and speed The only motions performed without the rGTO bit are activation and automatic release routines l 0x0 Stop l 0x1 Go to requested position rATR Automatic Release routine action slowly opens the G...

Page 33: ...ved Register POSITION REQUEST Address Byte 3 Bits 7 6 5 4 3 2 1 0 Symbol rPR This register is used to set the target position for the Gripper s fingers The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops For detailed finger trajectory please refer to the Specifications section l 0x00 Open position with 50 mm opening l 0xFF Closed l Opening coun...

Page 34: ...speed l Register FORCE Address Byte 5 Bits 7 6 5 4 3 2 1 0 Symbol rFR The force setting defines the final gripping force for the Gripper The force will fix the maximum current sent to the motor If the current limit is exceeded the fingers stop and trigger an object detection notification Please refer to the Picking Features section for details on force control l 0x00 Minimum force l 0xFF Maximum f...

Page 35: ...J Object detection status is a built in feature that provides information on possible object pick up Ignore if gGTO 0 l 0x00 Fingers are in motion towards requested position No object detected l 0x01 Fingers have stopped due to a contact while opening before requested position Object detected opening l 0x02 Fingers have stopped due to a contact while closing before requested position Object detect...

Page 36: ...0 No fault solid blue LED l Priority faults solid blue LED l 0x05 Action delayed the activation re activation must be completed prior to perform the action l 0x07 The activation bit must be set prior to performing the action Minor faults solid red LED l 0x08 Maximum operating temperature exceeded 85 C internally let cool down below 80 C l 0x09 No communication during at least 1 second Major faults...

Page 37: ...Address Byte 4 Bits 7 6 5 4 3 2 1 0 Symbol gPO gPO Actual position of the Gripper obtained via the encoders value between 0x00 and 0xFF l 0x00 Fully opened l 0xFF Fully closed Register CURRENT Adress Byte 5 Bits 7 6 5 4 3 2 1 0 Symbol gCU gCU The current is read instantaneously from the motor drive value between 0x00 and 0xFF approximate current equivalent is 10 value read in mA Tip Built in featu...

Page 38: ...ibes key features in object picking applications l Force control l Re grasp l Object detection l Object contact loss 4 5 1 Force control The gripping force is controlled via the rFR byte please refer to the Robot Output Registers Functionalities section The Gripper behavior will change according to the rFR force requested l rFR 0 Very fragile objects or deformable objects mode l Lowest force l Re ...

Page 39: ...ill attempt to close until it reaches the position request rPR l This feature is automatically set according to the force request rFR Info Feature is off at force request rFR 0 otherwise it is on l Re grasp will keep the position setting l Finger motion will stop when rPR position is reached even if there is no object l Force and speed settings are not used Re grasp force and speed will automatica...

Page 40: ...een lost dropped Example of contact detected with an object 1 Set position speed and force at maximum full closing a rPR 0xFF rSP 0xFF rFR 0xFF 2 Set go to requested will initiate movement a rGTO 0x01 3 Then object detection status will be in motion a gOBJ 0x00 4 Until an object is picked object detection status will then be stopped due to contact while closing a gOBJ 0x02 5 The user can now assum...

Page 41: ...Robotiq Hand E Gripper Instruction Manual 4 6 Control Logic Example Fig 4 2 Example of Gripper control logic with corresponding registers 41 ...

Page 42: ...bus org docs Modbus_over_serial_line_V1_02 pdf For debugging purposes the reader is also invited to download one of many free Modbus scanners such as the CAS Modbus Scanner from Chipkin Automation Systems available at http www store chipkin com products tools cas modbus scanner Info Modbus RTU is a communication protocol based on a Big Endian byte order Therefore the 16 bit register addresses are ...

Page 43: ...0 Termination Resistor2 120 ohms 1 Various converters are available in the Spare Parts Kits and Accessories section 2 These parameters can be adjusted using the Robotiq User Interface Each register word 16 bits of the Modbus RTU protocol is composed of 2 bytes 8 bits from the Gripper The first Gripper output Modbus register 0x07D0 is composed from the first 2 Robotiq Gripper bytes byte 0 and byte ...

Page 44: ...tus Object Detection Fault Status and Position Request Echo Request is 09 03 07 D0 00 02 C5 CE Bits Description 09 SlaveID 03 Function Code 03 Read Holding Registers 07D0 Address of the first requested register 0002 Number of registers requested 2 C5CE Cyclic Redundancy Check CRC Response is 09 03 04 E0 00 00 00 44 33 Bits Description 09 SlaveID 03 Function Code 03 Read Holding Registers 04 Number...

Page 45: ...pper Status Object Detection Fault Status and Position Request Echo Request is 09 04 07 D0 00 02 70 0E Bits Description 09 SlaveID 04 Function Code 04 Read Input Registers 07D0 Address of the first requested register 0002 Number of registers requested 2 700E Cyclic Redundancy Check CRC Response is 09 04 04 E0 00 00 00 44 33 Bits Description 09 SlaveID 04 Function Code 04 Read Holding Registers 04 ...

Page 46: ...quest is 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E9 Address of the first register 0002 Number of registers written to 04 Number of data bytes to follow 2 registers x 2 bytes register 4 bytes 60E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA EC7C Cyclic Redundancy Check CRC Response is 09 10 03 E9 0...

Page 47: ...rce of the Gripper by writing to registers 0x03E9 1001 and 0x03EA 1002 Request is 09 17 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 2D 0C Bits Description 09 SlaveID 17 Function Code 23 read and write multiple registers 07D0 Address of the first requested register read 0002 Number of registers requested 2 read 03E9 Address of the first register written to 0002 Number of registers written to 3 04 Number...

Page 48: ... register 07D1 F6C1 Cyclic Redundancy Check CRC Note that the content of the response might change depending on the Gripper s status Info The Gripper will execute the input command i e write execute one cycle of motion update the output then return the Modbus response read 48 ...

Page 49: ... 06 00 00 00 00 00 00 73 30 Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E8 Address of the first register 0003 Number of registers written to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 0000 Value to write to register 0x03E9 ACTION REQUEST 0x01 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper 0000 Value written to register 0x03EA 0000...

Page 50: ...follow 3 registers x 2 bytes register 6 bytes 0100 Value to write to register 0x03E9 ACTION REQUEST 0x01 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 72E1 Cyclic Redundancy Check CRC Response is 09 10 03 E8 00 03 01 30 Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E8 Address of the fir...

Page 51: ...ode 03 Read Holding Registers 02 Number of data bytes to follow 1 register x 2 bytes register 2 bytes 1100 Content of register 07D0 GRIPPER STATUS 0x11 RESERVED 0x00 gACT 1 for Gripper Activation gSTA 1 for Activation in progress 55D 5 Cyclic Redundancy Check CRC Response if the activation IS completed 09 03 02 31 00 4C 15 Bits Description 09 SlaveID 03 Function Code 03 Read Holding Registers 02 N...

Page 52: ...s 0900 Value written to register 0x03E8 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 00FF Value written to register 0x03E9 GRIPPER OPTIONS 2 0x00 and POSITION REQUEST 0xFF rPR 255 255 for full closing of the Gripper FFFF Value written to register 0x03EA SPEED 0xFF and FORCE 0xFF full speed and full force 4229 Cyclic Redundancy Check C...

Page 53: ... Code 03 Read Holding Registers 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 3900 Content of register 07D0 GRIPPER STATUS 0x39 RESERVED 0x00 gACT 1 for Gripper Activation gGTO 1 for Go to Position Request and gOBJ 0 for Fingers are in motion 00FF Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the command was we...

Page 54: ...CT 1 for Gripper Activation gGTO 1 for Go to Position Request and gOBJ 2 for Fingers have stopped due to a contact while closing 00FF Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the command was well received and that the GRIPPER STATUS is valid BD00 Content of register 07D2 POSITION 0xBD FINGER CURRENT 0x00 the position is 189 255 can ...

Page 55: ...TION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 0000 Value written to register 0x03E9 GRIPPER OPTIONS 2 0x00 and POSITION REQUEST 0x00 rPR 0 255 for full opening of the Gripper partial opening would also be possible FFFF Value written to register 0x03EA SPEED 0xFF and FORCE 0xFF full speed and full force 7219 Cyclic Redundancy Check CRC Re...

Page 56: ...on Code 03 Read Holding Registers 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 3900 Content of register 07D0 GRIPPER STATUS 0x39 RESERVED 0x00 gACT 1 for Gripper Activation gGTO 1 for Go to Position Request and gOBJ 0 for Fingers are in motion 0000 Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0x00 the position request echo tells that the command was ...

Page 57: ...0x00 gACT 1 for Gripper Activation gGTO 1 for Go to Position Request and gOBJ 3 for Fingers are at requested position 0000 Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0x00 the position request echo tells that the command was well received and that the GRIPPER STATUS is valid 0D00 Content of register 07D2 POSITION 0x0D FINGER CURRENT 0x00 the position is 13 255 the fingers have...

Page 58: ...pper Dashboard To activate the gripper 1 Go to the RodiX menu on the left and select Gripper Fig 4 3 Menu to activate the gripper with the RodiX icon and Gripper menu highlighted 2 If no device is detected tap the Scan button Fig 4 4 Menu to activate the gripper with Scan button highlighted 58 ...

Page 59: ...l go through its activation cycle Fig 4 5 Menu to activate the gripper with Activate button highlighted To test the gripper l In the dashboard the Gripper can either be closed or opened using the E Open or E Close button Fig 4 6 Dashboard menu to test the gripper with E Open and E Close buttons highlighted 59 ...

Page 60: ...the program a Tap the Commands tab to display the various nodes b Tap the Gripper icon to insert a gripper node c Tap the Gripper icon to insert a gripper node Fig 4 7 Menu to insert a gripper node in the program 2 Tap the Gripper icon in the program to display Gripper settings Fig 4 8 Menu to show the Gripper settings 60 ...

Page 61: ...per Instruction Manual 3 To change the settings and jog the gripper tap the Edit action button Fig 4 9 Dashboard menu with Edit action button highlighted 4 Once done tap the Save action button Fig 4 10 Edit Action menu 61 ...

Page 62: ... Interface Visit the product page of Hand E on support robotiq com to get the latest installer of the Robotiq User Interface along with appropriate documentation Please refer to the instruction manual of the Robotiq User Interface for more details 62 ...

Page 63: ...e following sub sections provide data on the various specifications for Hand E l Section 6 1 technical dimensions of Hand E l Dimensions for custom fingertips l Dimensions of available fingertips l Section 6 2 mechanical specifications l Section 6 3 electrical specifications Robotiq Hand E Gripper Instruction Manual 63 ...

Page 64: ...dimensions The figure below represents the Gripper s dimensions with axes X Y Z and origin referenced for finger motion Info All technical drawings in the present section are shown with the basic aluminum fingers Fig 6 1 General dimensions of Hand E open 64 ...

Page 65: ...ank coupling Below are the dimensions of the blank coupling AGC CPL BLANK 002 please refer to the Spare Parts Kits and Accessories section available to create a custom bolt pattern The blue section can be fully customized holes can be placed in any part of this section while the grey section can only be worked to a depth of 3 mm Fig 6 2 Workable area dimensions of blank coupling AGC CPL BLANK 002 ...

Page 66: ...attern for coupling GRP CPL 062 please refer to the Spare Parts Kits and Accessories section is compatible with l 50 mm pitch circle diameter l 4 M6 1 0 low head socket cap screw clearance l 1 M6 indexing pin l ISO 9409 1 standard 50 4 M6 Fig 6 3 Coupling for ISO 9409 1 50 4 M6 66 ...

Page 67: ...ot exceed 100 N regardless of the direction Please refer to the Moment and force limits section for more details Warning The following limits must be respected at all times Calculation of maximum moment and force should include robot acceleration and safety factors l Refer to Mechanical specifications section to evaluate the grip force according to your fingertip design Info You can install custom...

Page 68: ...llows a 0 50 mm stroke Fig 6 5 Aluminum finger Fingertip holder In order to install fingertips on the racks fingertip holders must be used HND TIP HLD KIT please refer to the Spare Parts Kits and Accessories section You may customize fingertips to install directly on those Both the flat silicone HND TIP SLC KIT and V groove fingertips HND TIP VGR KIT install on the fingertip holders Fig 6 6 Finger...

Page 69: ...one fingertip HND TIP SLC KIT please refer to the Spare Parts Kits and Accessories section This fingertip has a flat silicone surface with an optimal friction coefficient for picking parts This fingertip must be mounted on a rack using the fingertip holder HND TIP HLD KIT Fig 6 7 Flat silicone fingertip 69 ...

Page 70: ...IP VGR KIT please refer to the Spare Parts Kits and Accessories section This fingertip has a grooved surface with an optimal shape for picking cylindrical parts by its horizontal and vertical grooves This fingertip must be mounted on the racks using the fingertip holder HND TIP HLD KIT Fig 6 8 Grooved fingertip 70 ...

Page 71: ...oad Form fit grasp 5 kg 11 lbs Maximum recommended payload Friction grasp 3 kg 6 6 lbs Gripper height without fingertips 100 5 mm 3 94 in Gripper diameter 75 mm 2 95 in Gripper weight including coupling 1070 g 2 3 lbs Grip force 20 130 N 4 5 27 lbf Finger speed 20 to 150 mm s 0 8 to 5 9 in s Info All specs are measured with coupling GRP CPL 062 and basic aluminum fingertips HND FIN ALU KIT 71 ...

Page 72: ...ower goes to the Gripper the fingers are blocked Info For example if the silicone fingertips HND TIP SLC KIT are used to lift a lubricated steel part machine tending with cutting oils the friction coefficient would be 0 3 tested static coefficient of friction Maximum weight with a safety factor of 2 4 and maximum force would be W 2 x 130 N x 0 3 2 4 32 5 N This calculation means that a 3 3 kg part...

Page 73: ...ng Maximum Payload External Force vs Z Offset on Custom finger l The blue curve in the graph represents the maximum force payload F recommended at given Z offset for a custom finger design mounted directly on the rack with two 2 M3 screws l The red curve in the graph represents the maximum force payload F recommended at given Z offset for a custom finger design mountend on a fingertip holder with ...

Page 74: ...rnal force Warning l Fatigue stress has not been taken into consideration in the calculations l Robot acceleration and safety factor have not been taken into consideration in the calculations Caution In order to address other custom specific cases with regards to your own application the main item to address is the strength of the screws used for mounting the fingers Friction grasp and form fit gr...

Page 75: ...q Hand E Gripper Instruction Manual 6 2 2 Center of mass and tool center point Couplings are included when Grippers are not mounted on the Camera Dual Gripper adapter plates are included where appropriate 75 ...

Page 76: ...late the TCP for Grippers mounted on a dual gripper assembly is as follows l Rx 0 l Ry Ry 0 7854 l Rz 0 The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below Fig 6 12 Inertia matrix for Hand E 76 ...

Page 77: ...cceleration and safety factors Parameter Hand E with Basic Aluminum Fingers Fx Fy Fz 100 N Mx 2 65 Nm My 3 74 Nm Mz 2 00 Nm Moments in x and y are calculated from the base of the fingers as shown in the figure below Fig 6 13 Reference frame for maximum force and moment values applied to the fingers Usage examples with listed limits l After picking its normal payload the robot can use Hand E to app...

Page 78: ...Robotiq Hand E Gripper Instruction Manual 6 3 Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC 10 Quiescent power minimum power consumption 1 W Peak current 1 1 A 78 ...

Page 79: ...in grip force being applied picking an object while opening or closing or closing the fingers on themselves Maintenance Intervals Operation Daily Weekly 1 M cycles 2 M cycles Gripper Cleaning Dirty conditions Normal conditions Periodic Inspection X Rack and pinion mechanism cleaning X Maintenance operations are for the average normal usage of the Gripper the maintenance intervals must be adjusted ...

Page 80: ...he Gripper electronics 1 Remove the Gripper from its coupling using the 4 mm hex key to unscrew the four 4 M5 0 8 x 35mm socket head cap screws Note that each screw uses a tooth lock washer do not lose them 2 Clean the Gripper with a dry towel remove all debris dirt and dust from the surface of the Gripper clean all pads dry thoroughly 3 Clean the coupling with a dry towel pay particular attention...

Page 81: ...inger by removing the M3 screws l Clean the rack and dry thoroughly l Insert the new finger on the rack l Fix the finger using the provided M3 screws apply low strength thread locker to the M3 screw threads l Repeat for remaining finger In order to replace a fingertip l Remove the worn fingertip by removing the M3 screws l Clean the fingertip holder and dry thoroughly l Insert the new fingertip in...

Page 82: ...ns in the Gripper cleaning section 2 Inspect the Gripper l Finger movement must be symmetric and fluid test opening and closing of the Gripper l Finger or fingertip wear must not affect gripping if wear is visible and affects movement change accordingly refer to the Gripper cleaning section l Check for any collision damage if damage is visible contact support robotiq com l Check for any sign of we...

Page 83: ...f freely from the rack housing Clean the rack housing the racks and the pinion using a degreaser Dry thoroughly Clean the fingers finger holders and fingertips if that is the case with a dry towel Remove all debris dirt and dust l Also clean the Gripper itself with a dry towel Dry thoroughly l Clean the coupling with a dry towel pay particular attention to the electrical contact l You can clean th...

Page 84: ...troller Optional controller for industrial communications see Robotiq Universal Controller Items UNI CTR XXXX Aluminum Finger Kit Aluminum finger kit includes l 2 x basic aluminum finger l 1 x screw kit HND FIN ALU KIT Fingertip Starting Kit Fingertip Starting Kit includes l 1 x Fingertip Holder Kit l 1 x V Groove Fingertip Kit l 1 x Flat Rubber Fingertip Kit l 1 x hex head key HND TIP START KIT F...

Page 85: ...G End Effector Coupling Kit ISO 9409 1 50 4 M6 coupling for Adaptive Robot Grippers with screws and tools for Gripper fixation and 1 m pigtail cable GRP CPL 062 To install Hand E on a robot that has a different bolt pattern than part GRP CPL 062 ISO 9409 1 50 4 M6 you can use one of the following The couplings listed below fit with both Hand E and the 2 Finger Gripper Item Description Ordering Num...

Page 86: ...9 Troubleshooting Section to be populated soon Robotiq Hand E Gripper Instruction Manual 86 ...

Page 87: ...anty period and found to meet all published specifications Robotiq will charge standard verification fees The unit is considered defective when at least one of the following conditions occurs l The Gripper fingers cannot close or open l The Gripper feedback necessary for the robot program is not accessible Parts that come into contact with the work piece and wearing parts such as the finger and fi...

Page 88: ...tside US and Canada Fax 1 418 800 0046 Technical support option 3 Sales option 2 Head office Robotiq 966 chemin Olivier Suite 500 Lévis Québec G7A 2N1 Canada Where automation Pros come to share their know how and get answers dof robotiq com Robotiq Hand E Gripper Instruction Manual 88 ...

Page 89: ...t authorities the relevant technical documents specified by Annex VII part B within the required time Additionally the product declares in conformity with the following directives according to which the product is CE marked 2011 65 EU Restriction of the use of certain hazardous substances RoHS Person responsible for documentation Annick Mottard Jr Eng address see manufacturer address Lévis May 201...

Page 90: ...n Conformity of the product is only met if all instructions of this manual are followed Among others installation safety measures and normal usage must be met The following standards have been applied NF EN ISO 12100 2010 Safety of machinery General principles for design Risk assessment and risk reduction CEI 60204 1 Ed6 0 2016 Safety of machinery Electrical equipment of machines Part 1 General re...

Page 91: ...Robotiq Hand E Gripper Instruction Manual 12 3 Ingress Protection Certificate 91 ...