Hand E Instruction Manual PDF 20180725
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Original Notice © 2018 Robotic Inc. Robotiq Hand-E Instruction Manual robotiq.com | leanrobotics.org 3 Revisions 7 1. General Presentation 9 1.1. Gripper nomenclature 1.2. Object picking 1.3. Setup and control 10 12 13 2. Safety 14 2.1. Warning 2.2. Intended Use 14 15 3. Installation 16 3.1. Scope of Delivery 17 3.1.1. Robotiq Hand-E Gripper 17 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4. Mechanical Installation 18 19 20 3.4.1. Installing the fingers/fingertips/holders on the Gripper 20 3.4.2. Installing the Gripper onto the robot 22 Single Gripper 22 Mulitple Grippers 22 3.5. Electrical Setup 3.6. Testing the Gripper 3.7. Installation for Universal Robots 23 25 27 3.7.1. Single Gripper 27 3.7.2. Multiple Grippers 28 3.8. URCap Package 29 3.8.1. Installation 30 Single Gripper 30 Multiple Grippers 32 3.8.2. Uninstalling URCap Package 35 3.8.3. License Agreement 36 4. Control 40 4.1. Overview 40 Robotiq Hand-E Gripper - Instruction Manual 4 4.2. Gripper Register Mapping 4.3. Robot Output Registers & Functionalities 4.4. Robot Input Registers & Status 4.5. Picking Features 42 43 47 50 4.5.1. Force control 50 4.5.2. Re-Grasp 51 4.5.3. Object detection 52 4.5.4. Brake engagement 52 4.6. Control Logic Example 4.7. Modbus RTU Communication 53 54 4.7.1. Connection Setup 55 4.7.2. Read holding registers (FC03) 56 4.7.3. Read input registers (FC04) 57 4.7.4. Preset multiple registers (FC16) 58 4.7.5. Master read & write multiple registers FC23 59 4.7.6. Modbus RTU example 61 4.8. Control over Universal Robots with URCaps 70 4.8.1. Gripper Dashboard 71 Overview 71 Single Gripper 71 Multiple Grippers 72 Features 72 4.8.2. Gripper Calibration menu and wizard 73 Features 75 4.8.3. Gripper Toolbar 77 Overview 77 Single Gripper 78 Multiple Grippers 79 Features 80 Gripper activation 80 Gripper operation window 81 Show/hide Gripper Toolbar 82 4.8.4. Gripper Node 82 Command window 83 Robotiq Hand-E Gripper - Instruction Manual 5 Features 86 Edit action screen 88 Single Gripper 88 Multiple Grippers 89 Features 90 Grip Check node 91 About 92 Error messages overview 93 Gripper Program Template 93 Advanced Gripper Functions 94 Single Gripper 94 Multiple Grippers 96 4.8.5. Retro-compatibility of URCaps with legacy driver programs 4.9. Control over Universal Robots without URCaps 99 100 4.9.1. Gripper Toolbar 100 Overview 100 Features 101 Toolbar collapsed 101 Toolbar expanded 102 4.9.2. Demo Scripts 104 4.9.3. Custom Programs 105 4.9.4. Provided Variables and Functions 106 5. User Interface 108 6. Specifications 109 6.1. Technical dimensions 110 6.1.1. Couplings 111 6.1.2. Fingers and fingertips 119 Rack 119 Basic aluminum finger 120 Fingertip holder 120 Flat silicone fingertip 121 Grooved fingertip 122 6.2. Mechanical specifications 123 Robotiq Hand-E Gripper - Instruction Manual 6 6.2.1. Specifications: 123 Payload and force 124 6.2.2. Center of mass and tool center point 125 6.2.3. Moment and force limits 127 6.3. Electrical specifications 128 7. Maintenance 129 7.1. Gripper cleaning 7.2. Periodic inspection 7.3. Rack & pinion mechanism cleaning 130 132 133 8. Spare Parts, Kits and Accessories 134 9. Troubleshooting 137 10. Warranty and Patent 140 11. Contact 141 12. Harmonized Standards, Declarations and Certificates 142 12.1. Translation of original EC declaration of incorporation 12.2. Applied standards 142 143 Robotiq Hand-E Gripper - Instruction Manual 7 Revisions Robotiq may modify this product without notice, when 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 2018/05/24 l Official release Robotiq Hand-E Gripper - Instruction Manual 8 Copyright © 2018 Robotiq Inc. All rights reserved. This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether 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 edition date. The information contained in this document is subject to change without notice. Robotiq Hand-E Gripper - Instruction Manual 9 1. General Presentation The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in the following manual all refer to the Robotiq Hand-E Gripper. The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly pick, place 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 read and understood before any operation is attempted with the Gripper. Robotiq Hand-E Gripper - Instruction Manual 10 1.1. Gripper nomenclature The Hand-E Gripper is a parallel 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. Robotiq Hand-E Gripper - Instruction Manual 11 The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks. Refer to the Installation section for more information on how to integrate custom fingers and fingertips to Hand-E. Fig. 1-2: Mounting of a finger on a rack When ordered as a kit for installation on Universal Robots (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 fingertips. You can install custom fingers directly on the racks and the fingertips on the fingertip holders. Robotiq Hand-E Gripper - Instruction Manual 12 1.2. Object picking The Hand-E Gripper has a single actuator for opening and closing the fingers. It 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. Robotiq Hand-E Gripper - Instruction Manual 13 1.3. Setup and control The Gripper is powered and controlled directly via a single device cable that carries a 24V DC supply and Modbus RTU communication over RS-485. Please refer to the Electrical Setup section for wiring information and to the Control section for control of the Gripper (software packages are available for control via some types of robot controllers). Info Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial). A gripper coupling is required for using Hand-E; the coupling will provide 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" command, the Gripper status will allow you to know if an object is picked or not via a simple object detection bit (0 or 1). When an object is detected, the Gripper will stop. If the object is being dropped, the Gripper will automatically close to keep the object until the object is detected or until the position target from the "go to command" is reached. For details on object detection, please refer to the Control section. Robotiq Hand-E Gripper - Instruction Manual 14 2. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq Hand-E Gripper. Info The term "operator" refers to anyone responsible for any of the following operations on the RobotiqHand-E Gripper: l Installation l Control l Maintenance l Inspection l Calibration l Programming l Decommissioning This documentation explains the various components of the Robotiq Hand-E Gripper and general operations regarding the whole lifecycle of the product from installation to operation and decommissioning. The drawings and photos in this documentation are representative examples; nonetheless, discrepancies may be observed 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 cord sets are always secured at both ends, at the Gripper and at the robot. l Always meet the recommended keying for electrical connections. l Make sure no one is in the robot and/or Gripper path before initializing the robot's routine. l Always meet the Gripper's payload specifications. l Set the Gripper's pinch force and speed accordingly, based on your application. l Keep fingers and clothes away from the Gripper while the power is on. Robotiq Hand-E Gripper - Instruction Manual 15 l Do not use the Gripper on people or animals. l For welding applications, make sure there are no Gripper parts on the ground path of the welding power source. Risk assessment and final application: The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the final application must be evaluated via a thorough risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are met. Depending on the application, there may be risks that require 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 automated machinery and equipment. Info Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. The unit should be used exclusively within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use. Robotiq Hand-E Gripper - Instruction Manual 16 3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Hand-E Gripper. Warning Before installing: l Read and understand the safety instructions related to the Hand-E Gripper. l Verify your package 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 l Meet the recommended environmental conditions. 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 damage. Robotiq Hand-E Gripper - Instruction Manual 17 3.1. Scope of Delivery 3.1.1. Robotiq Hand-E Gripper Standard upon delivery l Robotiq Hand-E Basic Gripper Unit: HND-GRP-001 l Hand-E Aluminum Finger Kit l Screw kit l USB to RS485 signal converter: ACC-ADT-USB-RS485 l Coupling according to your robot bolt pattern (e.g.: GRP-CPL-062) Info Please refer to the Spare Parts, Kits and Accessories section 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 fuses. Info When bought as a kit, the Hand-E Gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling. Please refer to the Spare Parts, Kits and Accessories section. Robotiq Hand-E Gripper - Instruction Manual 18 3.2. Required Tools and Equipment The following tools are required to install the Hand-E Gripper: l 4 mm hex key to mount the Gripper onto its coupling. l Metric hex key according to your coupling to mount the coupling onto the robot. Optional tools if installing fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-RUB-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT l 2,5 mm hex key The following parts are required for setup : l Power supply (see below). l Fuse, see information below. l Emergency stop is not provided, but its use is strongly advised. The Gripper needs to be supplied by a DC voltage source. This power supply is not included 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 1A Overcurrent Recommended power supply with internal protection, otherwise fusing is required. 2 A fuse at 25°C [77°F]1 Table 3-1: Hand-E power supply requirements. 1 Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring. Warning If your power supply could exceed the specified regulation, over-voltage protection is required. Robotiq recommends the use of the following power supplies: l For the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply: DPP30-24. Tip Optional Robotiq Universal Controller can use the same power supply. Robotiq Hand-E Gripper - Instruction Manual 19 3.3. Environmental and Operating Conditions CONDITION VALUE Minimum storage/transit temperature -30°C [-22°F] Maximum storage/transit temperature 60°C [140°F] Minimum operating temperature -10°C [14°F] Maximum operating temperature 50°C [122°F] Humidity (non-condensing) 20-80% RH Vibration < 0.5G Other Coming soon Table 3-2: Environmental and operating conditions of the Hand-E Gripper. Robotiq Hand-E Gripper - Instruction Manual 20 3.4. Mechanical 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 Robotiq Hand-E Gripper - Instruction Manual 21 Fig. 3-2: Mounting fingertips on holders (and then on the racks) Robotiq Hand-E Gripper - Instruction Manual 22 3.4.2. Installing the Gripper onto the robot Single Gripper Use a coupling to attach the Gripper to the robot. Be sure to use the appropriate coupling for your robot model. If there is no coupling for your robot, you can process a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your own coupling and/or adapter plate you can refer to the Couplings section. To see the details of the available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section. 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 thread-locker. 1. Screw the adapter plate or the coupling to the robot. 2. Screw the coupling to the adapter plate (if applicable). 3. Screw the Gripper onto it's coupling. Fig. 3-3: Installing the Gripper to a robot using an adapter plate and a coupling. Mulitple Grippers When installing multiple grippers on a single, every gripper must have its own coupling. 1. Install a mounting plate (not included) on the robot arm. 2. Mount the grippers' couplings on the mounting plate using the provided M6 X 10mm screws. 3. Mount the grippers onto the couplings using the provided M5 X 35mm screws. Robotiq Hand-E Gripper - Instruction Manual 23 3.5. Electrical Setup Power and communication are established with the Hand-E Gripper via a single device cable. The device cable provides a 24V power supply to the Gripper and enables serial RS-485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the Gripper and the network/robot controller if fieldbus communication is required. If a Robotiq Universal Controller is used, please refer to the instruction manual of the Robotiq Universal Controller. The figure below represents the wiring scheme of the Hand-E Gripper with device cable, power supply, fuse (refer to the Required Tools and Equipment section) and grounding. Fig. 3-4: Robotiq Hand-E with pigtail cable and device cable wiring scheme. Info RS-485 signals (A, B and GND) are isolated from the main 24V power supply. GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the user's discretion. Caution Use proper cabling management. Make sure to leave enough slack in the 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. Robotiq Hand-E Gripper - Instruction Manual 24 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. Table 3-3: Pinout of the Hand-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 RS-485 signal l minimum #24 AWG TEW, 300 V or 600 V l A and B signals must be balanced at 120 Ohms Robotiq Hand-E Gripper - Instruction Manual 25 3.6. Testing the Gripper Once installed and properly secured, your Robotiq Hand-E Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. To do so : 1 Follow the instructions to install the Robotiq User Interface, or 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" to begin using the Gripper. Caution The Activate command will initiate movement of the Gripper for the auto-calibration procedure. Do not interfere with the Gripper. Be sure you have met robot safety measures. Fig. 3-5: RS-485 to USB converter ACC-ADT-USB-RS485 pinout. Robotiq Hand-E Gripper - Instruction Manual 26 Fig. 3-6: Wiring possibilities of the USB to RS-485 converter. 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. Robotiq Hand-E Gripper - Instruction Manual 27 3.7. Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Hand-E Gripper URCaps Package. Robotiq Software Controller CB1 Controller CB2 Controller CB3 Controller CB3.1 Driver Package (includes Gripper toolbar) Incompatible Compatible Compatible Compatible Hand-E Gripper URCap Package (includes Gripper toolbar and Gripper node) Incompatible Incompatible Compatible Compatible Table 3-4: Compatibility between Robotiq software and robot controller Refer to the URCap Package section for the installation of the UR software package for Hand-E. Caution The robot's PolyScope version must be 3.5 or later in order to install the URCap. 3.7.1. Single Gripper Prior to any software installation on Universal Robots, connect the white, blue and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller. Fig. 3-7: Hand-E Gripper wiring to Universal Robots controller. Robotiq Hand-E Gripper - Instruction Manual 28 3.7.2. Multiple Grippers It is possible to connect and control up to four grippers on the same UR robot. Only one USB to RS485 converter (ACC- ADT-USBRS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable (CBL-COM-2065-10-HF), which in turn connects to the USB to RS485 converter. Fig. 3-8: Multiple grippers wiring on Universal Robots. Info Please refer to the Installation section to configure the grippers properly before controlling and programming them. Info Prior to use over Universal Robots, adjust the payload and the center of gravity in the Installation tab (refer to the Mechanical specifications section). Robotiq Hand-E Gripper - Instruction Manual 29 3.8. URCap Package Robotiq provides you with a Universal Robots URCap package that enables direct serial communication (via USB) to your UR controller. Info To get the URCap package for your UR controller, browse to Hand-E's support product page. Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section). Caution The robot's PolyScope version must be 3.5 or later in order to install the URCap. The Gripper’s URCap package contains: l The URCap for the Gripper; l The Gripper toolbar; l The Gripper node. Tip For other robots, where no driver package is available, we recommend the use of the Robotiq Universal Controller which allows fieldbus communication. Available communication protocols with this Universal Controller are: l Modbus TCP l EtherNet IP l EtherCAT l PROFINET l DeviceNET l CANopen For details on controlling the Gripper, please refer to the Control section. Info Please refer to the Control section for detailed information on how to program using the URCap package. Robotiq Hand-E Gripper - Instruction Manual 30 3.8.1. Installation Single Gripper Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section). Follow this procedure to install the Hand-E Gripper URCap package: l l l Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Gripper’s URCap package. Browse to support.robotiq.com and click on the Hand-E Gripper product page. Download the RAR file and extract its content on the root of a blank USB stick. l Insert the USB stick in the UR teach pendant or controller. l Go to Setup Robot. l Tap URCaps Setup. Tip If you wish to know what version of PolyScope you are using, go to the PolyScope home page and tap the About button. A window containing the Universal Robots software version will pop up. Robotiq Hand-E Gripper - Instruction Manual 31 l Tap the plus button (+) to add the Gripper’s URCaps package. l Open Robotiq_Grippers-X.X.X.urcap from the USB storage device. l l Robotiq Hand-E Gripper - Instruction Manual Restart PolyScope to complete the URCap installation. By doing so, you accept the License Agreement that is detailed in the URCap information text box (please refer to the License Agreement section below). When PolyScope reopens, the Gripper toolbar will appear on the screen. 32 Multiple Grippers It is possible to connect and control up to four grippers on the same UR robot. Only one USB to RS485 converter (ACC- ADT-USBRS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable (CBL-COM-206510-HF) that connects to the USB to RS485 converter. Fig. 3-9: Wiring for multiple grippers. When installing multiple grippers on one UR robot, their gripper ID must be set properly. To do so, perform the following steps for each Gripper. Caution The list of steps below is not comprehensive; please refer to section for more details. Robotiq Hand-E Gripper - Instruction Manual 33 l l Connect only one gripper at the time using the M12 splitter. From the PolyScope home page, go to Program Robot and then tap the Installation tab. l Tap on Gripper. l Select the Dashboard menu. l Tap the Scan button to detect Grippers. l Change the Gripper ID to the desired one. l Make sure it is different from the other Gripper IDs. l l l Gripper ID is saved to the Gripper's internal memory. ID will be kept at all time. Click on Activate to activate the Gripper. Perform the same routine for all grippers, if applicable, connecting only one at the time. Caution Make sure all grippers have different IDs. With their factory settings, all grippers have Gripper ID set to 1. If you have more than one gripper connected with the same ID, communication issues will arise. Robotiq Hand-E Gripper - Instruction Manual 34 l l Once all grippers IDs have been set, connect them all to the M12 splitter. Go back to the Configure tab and confirm that all grippers are recognized and can be controlled. Robotiq Hand-E Gripper - Instruction Manual 35 3.8.2. Uninstalling URCap Package If you wish to uninstall the Hand-E Gripper URCap, follow this procedure: Robotiq Hand-E Gripper - Instruction Manual l Go to Setup Robot. l Tap URCaps Setup. l In the Active URCaps text box, tap the Gripper URCap. l The Gripper URCap should be highlighted. l Tap the minus button (-) to uninstall the URCap. l Restart PolyScope to complete the uninstallation process. 36 3.8.3. License Agreement END-USER LICENSE AGREEMENT YOU SHOULD CAREFULLY READ THE FOLLOWING AGREEMENT BEFORE USING THE Software (as this term is hereinafter defined). Using the Software indicates your acceptance of the agreement. If you do not agree with it, you are not authorized to use the Software. IMPORTANT-READ CAREFULLY: This End-User License Agreement (the “Agreement”) is a legal agreement between you and the Licensor (as this term is hereinafter defined), the licensor of the Software. This Agreement covers the Software. The Software includes any “on-line” or electronic documentation and all modifications and upgrades related thereto. By installing, or otherwise using the Software, you agree to be bound by the terms of this Agreement. If you do not agree to the terms of this Agreement, the Licensor cannot and does not license the Software to you. In such event, you must not use or install the Software. 1. Definition. a. “UR” means Universal Robots A/S, a corporation incorporated under the laws of Denmark, having its registered office at Energivej 25, DK-5260 Odense S, which specializes into the conception, advanced manufacturing and sale of robotic products (the “UR’s Business”); b. “Software” means any of the Licensor’s softwares provided to its customers for the purposes mentioned in Sub-section 1.4 hereof including their modifications and upgrades and their related materials; c. “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced manufacturing and sale of robotic products (the “Licensor’s Business”); d. “End-User” means a customer authorized pursuant to this Agreement to install or use the Software in order to make a specific product from the Licensor’s Products compatible and functional with a specific product of the UR’s Product; e. “Licensor’s Products” means those products developed by the Licensor in the course of the Licensor’s Business; f. “UR’s Products” means those products developed by UR in the course of the UR’s Business; g. “Licensor’s Authorized Representatives” means and includes the Licensor and Licensor’s authorized vendors, resellers, distributors and licensors; h. “Purchase Agreement” means an agreement between the End-User and the Licensor pursuant to which the End-User purchased one or more of the Licensor’s Products. 2. License. Subject to the terms and conditions hereof, the Licensor grants to the End-User a personal, temporary, non-exclusive, non-assignable and non-transferable and revocable license to use the Software in accordance with the terms and conditions hereof. 3. Software and Documentation. The Licensor may provide, if applicable, all documentation containing the detailed specifications for operation and use of the Software, which Software shall be used in accordance with such documentation. This documentation, if applicable, will be provided, wholly or in part, within (i) this Agreement, (ii) the Licensor’s Web site http://robotiq.com/ (iii) the Licensor’s Products and the Purchase Agreement therewith, or (iv) any other agreement, document, support, whatsoever decided by the Licensor. The use of the Software requires the Licensor’s Products, UR’s Products, compatible systems and certain software (which may require some expenses), may require periodical updating and may be affected by such elements. Most equipment will be compatible with the Software. However, the Software may not function on certain types of equipment. 4. Modifications and Upgrades. The Licensor shall be under no obligation to provide any upgrade or modification to the Software. However, the End-User shall be entitled to receive free of charge all modifications and upgrades of the Software provided by the Licensor if, at such time, the End-User is not in default in respect of any of its obligation contained herein. Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Website http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Software shall not be covered by this Section 4 but shall require that a new End-User Software License Agreement be entered into between the Licensor and the EndUser. Robotiq Hand-E Gripper - Instruction Manual 37 5. Fees. The grant by Licensor to the End-User of the present license shall be free to the extent that the End-User agrees and complies to the term and conditions herein at all time. 6. Maintenance. During the term of this Agreement, the Licensor will maintain the Software in an operable condition and will make available any corrections and improvements as are generally incorporated in the Software by the Licensor without additional charge to the End-User. The Licensor may temporarily and without notice suspend or limit access to the Software if necessary or desirable in order to maintain, restore, modify or repair any part of the Software or for any reason related to business. During such works, the Software will not be available but the Licensor undertakes to deploy its best efforts to perform such works at appropriate times and to limit any inconvenience arising therefrom. 7. Title to Software. The licensed Software is composed of confidential data and trade secrets and is proprietary to and constitutes trade secret information and intellectual property of the Licensor. Title and ownership rights to the Software, including the intellectual property rights related thereto, shall remain with the Licensor. The End-User agrees to maintain the confidential nature of the Software and related materials provided for the End-User’s own internal use under this Agreement. The license granted herein does not include the right to sublicense to others, and may not be assigned to others, in whole or in part, without the prior written consent of the Licensor. The End-User may not or allow others to modify or prepare directive works, copy (except for normal backups for recovery purposes), reproduce, republish, reverse engineer, upload, post, transmit, or distribute, in any manner, the Software. 8. Restricted Use. The Software shall be used solely and exclusively by the End-User and its employees for the purpose mentioned in Sub-section 1.4 hereof. Any other use of the Software, including resell derivative modifications or extensions, is expressly prohibited. 9. Exclusion of Warranty on Software. The End-User expressly acknowledges and agrees that use of the Software is at the End-User sole risk. The Software is provided “AS IS” and without warranty of any kind. THE LICENSOR AND THE LICENSOR’S AUTHORIZED REPRESEN-TATIVES DO NOT WARRANT THAT Software WILL BE FREE OF ERRORS AND YOU ACKNOWLEDGE THAT THE EXISTENCE OF ANY SUCH ERRORS DOES NOT CONSTITUTE A BREACH OF THIS AGREEMENT. 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Robotiq Hand-E Gripper - Instruction Manual 39 Robotiq Hand-E Gripper - Instruction Manual 40 4. Control Info Unless specified, all values in this section are in hexadecimal values. 4.1. Overview The Robotiq Hand-E Gripper is controlled directly via Modbus RTU using a RS485 signal. It can also be controlled via an optional Robotiq Universal Controller using an industrial protocol (refer to the instruction manual of the Robotiq Universal controller). The programming of the Gripper can be done with the Teach Pendant of the robot or by offline programming. The communication method used to control the Hand-E Gripper does not change the control logic or register setups described in the following subsections. Tip Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object detection and force control. Since the Robotiq Hand-E Gripper has its own embedded controller, high-level commands, such as "Go to requested position" are used to control it. Info The operator can: - Control force, speed and position of the Gripper fingers. - Finger movement is always synchronized, 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. The feature also works for lost or dropped objects, and the user can be alerted if an object is dropped after being detected. - Engage directional (open or close) auto-release for emergencies. Control using registers The Gripper has an internal memory that is shared with the robot controller. One part of the memory is for the robot output; gripper functionalities. The other part of the memory is for the robot input; gripper status. Two types of actions can then be performed by the robot controller : 1. Write in the robot output registers to activate functionalities; 2. Read in the robot input registers to get the status of the Gripper. The Gripper Register Mapping section will map the different registers used to control the Gripper or to read its status while theRobot Output Registers & Functionalities section will detail the output (write) register functions, and the Robot Input Registers & Status section will detail the input (read) register status. The figure below is a representation of the memory and the control logic of the Gripper. Robotiq Hand-E Gripper - Instruction Manual 41 Fig. 4-1: Hand-E control logic overview Control using Universal Robots packages Robotiq provide Universal Robots packages to be used with URCaps (require controller CB3 or higher) Please refer to the Control section for instructions on how to use the Gripper URCap; this method will provide you with a Gripper Toolbar to test and a Gripper node to program via the URCaps tab. Please refer to the Control over Universal Robots without URCaps section on how to use without URcaps, this method will provide you with a similar Gripper Toolbar but the robot program will be built using subprograms and scripts. Robotiq Hand-E Gripper - Instruction Manual 42 4.2. Gripper Register Mapping Register mapping Caution Byte numbering starts at zero and not at 1 for the 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. Robotiq Hand-E Gripper - Instruction Manual 43 4.3. Robot Output Registers & Functionalities Register: ACTION REQUEST Address: Byte 0 Bits 7 Symbols 6 Reserved 5 4 3 rARD rATR rGTO 2 1 Reserved 0 rACT rACT First action to be made prior to any other actions; the rACT bit will activate the Gripper. Clear the rACT bit to reset the Gripper and clear any fault status. l 0x0 - Deactivate Gripper. l 0x1 - Activate Gripper (must stay on after activation routine is completed). Warning When setting rACT (rACT ==1), the Gripper will begin movement to complete its activation feature. Info Power loss will set rACT (rACT == 1); the rACT bit must then be cleared (rACT == 0), then set again to allow operation of the Gripper. Caution The rACT bit must stay on afterwards for any other action to be performed. rGTO The "Go To" 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 Gripper fingers until all motion axes reach their mechanical limits. After all motions are completed, the Gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit overrides all other commands excluding the activation bit (rACT). l 0x0 - Normal. l 0x1 - Emergency auto-release. Caution Robotiq Hand-E Gripper - Instruction Manual 44 The automatic release is meant to disengage the Gripper after an emergency stop of the robot. The automatic release is not intended to be used under normal operating conditions. Automatic release requires the rACT to be cleared (rACT == 0) then set (rACT == 1). Robotiq Hand-E Gripper - Instruction Manual 45 rARD Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to or at the same time as the rATR bit, as the motion direction is set when the auto-release is initiated. l 0x0 - Closing auto-release l 0x1 - Opening auto-release Register: GRIPPER OPTIONS Address: Byte 1 Bits 7 6 5 Symbol 4 3 2 1 0 2 1 0 2 1 0 Reserved Register: GRIPPER OPTIONS 2 Address: Byte 2 Bits 7 6 5 Symbol 4 3 Reserved Register: POSITION REQUEST Address: Byte 3 Bits 7 Symbol 6 5 4 3 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 / count: ≈0.2 mm for 50 mm stroke Info The activation will allow the Gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the fingers/fingertips, 0 will always be fully opened and 245 fully closed, with a quasi-linear relationship between the two values. Robotiq Hand-E Gripper - Instruction Manual 46 Register: SPEED Address: Byte 4 Bits 7 6 5 4 Symbol 3 2 1 0 rSP This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not initiate a motion. l 0x00 - Minimum speed l 0xFF - Maximum speed l Register: FORCE Address: Byte 5 Bits 7 6 Symbol 5 4 3 2 1 0 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 force Info Register bytes 6 to 15 are reserved and should be set to 0. Robotiq Hand-E Gripper - Instruction Manual 47 4.4. Robot Input Registers & Status Register: GRIPPER STATUS Address: Byte 0 Bits 7 Symbols 6 gOBJ 5 4 gSTA 3 gGT O 2 1 Reserved 0 gAC T gACT Activation status, echo of the rACT bit (activation bit). l 0x0 - Gripper reset. l 0x1 - Gripper activation. gGTO Action status, echo of the rGTO bit (go to bit). l 0x0 - Stopped (or performing activation / automatic release). l 0x1 - Go to Position Request. gSTA Gripper status, returns the current status and motion of the Gripper fingers. l 0x00 - Gripper is in reset (or automatic release) state. See Fault Status if Gripper is activated. l 0x01 - Activation in progress. l 0x02 - Not used. l 0x03 - Activation is completed. gOBJ 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 detected closing. l 0x03 - Fingers are at requested position. No object detected or object has been loss / dropped. Caution In some circumstances the object detection feature may not detect an object even if it is successfully grasped. For instance, picking up a thin object may be successful without the object detection status being triggered. In such applications, the "Fingers are at requested position" status of register gOBJ is sufficient to proceed to the next step of the routine. Tip Robotiq Hand-E Gripper - Instruction Manual 48 Checking for the correct position of the fingers (byte 4), as well as object detection (byte 0, bit 6 & 7) before proceeding to the next step of a routine is a more reliable method than object detection or finger position alone. Register: RESERVED Address: Byte 1 Bits 7 6 5 Symbol 4 3 2 1 0 2 1 0 Reserved Register: FAULT STATUS Address: Byte 2 Bits 7 6 Symbols 5 4 3 kFLT gFLT gFLT Fault status returns general error messages that are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis, LED can be blue, red or both and be solid or blinking. l 0x00 - 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 (LED blinking red/blue) - Reset is required (rising edge on activation bit (rACT) needed). l 0x0A - Under minimum operating voltage. l 0x0B - Automatic release in progress. l 0x0C - Internal fault, contact support@robotiq.com l 0x0D - Activation fault, verify that no interference or other error occurred. l 0x0E - Overcurrent triggered. l 0x0F - Automatic release completed. Info While booting, status LED will be solid blue/red. kFLT Robotiq Hand-E Gripper - Instruction Manual 49 please refer to your optional controller manual (input registers and status). Register: POSITION REQUEST ECHO Address: Byte 3 Bits 7 6 5 4 Symbol 3 2 1 0 gPR gPR Echo of the requested position for the Gripper, value between 0x00 and 0xFF. l 0x00 - Full opening. l 0xFF - Full closing. Register: POSITION Address: Byte 4 Bits 7 6 5 Symbol 4 3 2 1 0 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 Symbol 7 6 5 4 3 2 1 0 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 features like object detection and force control use the fingers' electrical current readings. The user does not need to create these features. Robotiq Hand-E Gripper - Instruction Manual 50 4.5. Picking Features As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes 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 l rFR = 0 : Very fragile objects or deformable objects mode l Lowest force l Re-grasp feature is off 1 rFR 255 : Solid & firm objects l High torque mode l Re-grasp feature is on Robotiq Hand-E Gripper - Instruction Manual 51 Measured grip force for steel of specific hardness (Vickers) Coming soon Measured grip force for silicone of specific hardness (Durometer) Coming soon 4.5.2. Re-Grasp Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature will allow the Gripper to initiate a movement when an object is slipping or dropped. When Re-grasping, the Gripper will 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 l Finger motion will stop when rPR position is reached, even if there is no object. Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost / dropped. Info While your initial settings for force and speed are not used for Re-grasp, they will never be eceeded to prevent damaging the part. Caution The rOBJ status is cleared when a motion is detected. Robotiq Hand-E Gripper - Instruction Manual 52 4.5.3. Object detection When the Gripper grabs an object, the gOBJ status will allow you to know if contact with the object was successful. This is a built-in feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection feature will change the gOBJ status and can be used inside your robot program. As stated in the previous section: gOBJ: Only valid if gGTO = 1. 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. l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected. l 0x03 - Fingers are at requested position. No object detected or object has been 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 assume it is holding the payload, and proceed to the next step. Example of contact lost with an object: 1. From the previous example, after an object is picked a. gOBJ == 0x02 2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost. 4.5.4. Brake engagement The Hand-E Gripper is equipped with a brake that engages at the end of each and every Gripper move, and thus disengages between each of these moves. For instance, when fully closing on an object, the Gripper makes contact with the surface of the object and activates the brake before sending the object detection signal to the robot. Robotiq Hand-E Gripper - Instruction Manual 53 4.6. Control Logic Example Fig. 4-2: Example of Gripper control logic with corresponding registers. Robotiq Hand-E Gripper - Instruction Manual 54 4.7. Modbus RTU Communication The Gripper can be controlled by Modbus RTU directly with RS485 or over USB using the ACC-ADT-USB-RS485. This section is intended to provide guidelines for setting up a Modbus master that will adequately communicate with the Gripper. For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification and implementation guide available at: http://www.modbus.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 transmitted with the most significant byte first. However, the data port is in the case of Robotiq products based on the Little Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first. Tip Modbus RTU specifications and details can be found at www.modbus.org. Robotiq Hand-E Gripper - Instruction Manual 55 4.7.1. Connection Setup The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol. PROPRIETY DEFAULT VALUE Physical Interface RS-4851 Baud Rate2 115,200 bps Data Bits 8 Stop Bit2 1 Parity2 None Read Holding Registers (FC03) Read Input Registers (FC04) Supported Functions Preset Multiple Registers (FC16) Master read & write multiple registers (FC23) Exception Responses Not supported Slave ID2 0x0009 (9) Robot Output / Gripper Input First Register 0x03E8 (1000) Robot Input / Gripper Output First Register 0x07D0 (2000) 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 1). Info 200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send commands with a minimum delay of 5 ms between them. Info 120 Ohms termination resistor is already present on the converter and the Gripper. If multiple grippers are connected in parallel on the same RS485 cable, termination resistor must be set to OFF in communication parameters. Robotiq Hand-E Gripper - Instruction Manual 56 4.7.2. Read holding registers (FC03) Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object status, finger position, etc. Example of an FC03 read function: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, 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 of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4433 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 57 4.7.3. Read input registers (FC04) Function code 04 (FC04) is used for requesting the status of the Gripper's analog input register. Examples of such data are Gripper status, object status, finger position, etc. Example of an FC04 read function: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper 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 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4584 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 58 4.7.4. Preset multiple registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are action request, speed, force, etc. Example of setting multiple registers FC16: This message requests to set position request, speed and force of the Gripper by setting register 0x03E9 (1002) and 0x03EA. Request 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 00 02 91 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E9 Address of the first register 0002 Number of written registers 9130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 59 4.7.5. Master read & write multiple registers FC23 Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of the Gripper (robot output) simultaneously. Examples of such data are Gripper status, object status, finger position, etc. Action requests are speed, force, etc. Example of reading and writing multiple registers FC23: This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and Position Request Echo. It also sets the position request, speed and force 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 of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes) 00E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA 2D0C Cyclic Redundancy Check (CRC) Response is: 09 17 04 01 00 09 E6 F6 C1 Bits Description 09 SlaveID 17 Function Code 23 (read and write multiple registers) 04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 1000 Content of register 07D0 Robotiq Hand-E Gripper - Instruction Manual 60 Bits Description 09E6 Content of 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. Robotiq Hand-E Gripper - Instruction Manual 61 4.7.6. Modbus RTU example This section depicts the example from the Control Logic Example section, when programmed using the Modbus RTU protocol. The example is typical of a pick and place application. After activating the Gripper, the robot is moved to a pick-up location to grip an object. It moves again to a second location to release the gripped object. Step 1: Activation Request ( clear and set rACT) Request is (clear rAct): 09 10 03 E8 00 03 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 Value written to register 0x03EB 7330 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 first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 62 Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1 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) 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 first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 63 Step 2: Read Gripper status until the activation is completed Request is: 09 03 07 D0 00 01 85 CF Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0001 Number of registers requested (1) 85CF Cyclic Redundancy Check (CRC) Response (if the activation IS NOT completed): 09 03 02 11 00 55 D5 Bits Description 09 SlaveID 03 Function Code 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 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) 3100 Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3 for "Activation is completed" 4C15 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 64 Step 3: Move the robot to the pick-up location Step 4: Close the Gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29 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) 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 (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 first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 65 Step 5: Read Gripper status until the grip is completed Request is: 09 03 07 D0 00 03 04 0E Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) 040E Cyclic Redundancy Check (CRC) Example of response if the grip is not completed: 09 03 06 39 00 00 FF 0E 0A F7 8B Bits Description 09 SlaveID 03 Function 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 well received and that the GRIPPER STATUS is valid. 0E0A Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 100mA (these values will change during motion) F78B Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 66 Example of response if the grip is completed: 09 03 06 B9 00 00 FF BD 00 1D 7C Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) B900 Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 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 be used to validate the size of the seized object) 1D7C Cyclic Redundancy Check (CRC) Step 6: Move the robot to the release location Robotiq Hand-E Gripper - Instruction Manual 67 Step 7: Open the Gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19 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) 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" 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) 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 first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 68 Step 8: Read Gripper status until the opening is completed Request is: 09 03 07 D0 00 03 04 0E Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) 040E Cyclic Redundancy Check (CRC) Example of response if the opening is not completed: 09 03 06 39 00 00 00 BB 10 30 E0 Bits Description 09 SlaveID 03 Function 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 well received and that the GRIPPER STATUS is valid. BB10 Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is 160mA (these values will change during motion) 30E0 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual 69 Example of response if the opening is completed: 09 03 06 F9 00 00 00 0D 00 56 4C Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) F900 Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 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 reached their software limit) 564C Cyclic Redundancy Check (CRC) Step 9: Loop back to step 3 if other objects have to be gripped. Robotiq Hand-E Gripper - Instruction Manual 70 4.8. Control over Universal Robots with URCaps The URCap package contains many features to program and control the Gripper. The package provides: l l Gripper toolbar: The Gripper toolbar is automatically installed with the URCaps package. It allows jogging and testing of the Gripper. It is a great tool to try grasps with the Gripper while programming. Gripper node: The URCaps package adds a Gripper node that is used to add a Gripper command. A node can make the Gripper move to a specific opening, grasp an object and modify the speed and force applied by the Gripper. Caution Starting from Gripper URCap version 1.0.2, the gripper activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again. Robotiq Hand-E Gripper - Instruction Manual 71 4.8.1. Gripper Dashboard Overview Single Gripper Open or create a robot program 1 2 3 4 5 Go the Installation tab Select Gripper in the left pane Tap the Dashboard button In no Gripper is found, tap the Scan button to detect any Gripper that might be connected to the robot Tap the Activate button Fig. 4-3: Gripper Dashboard (steps highlighted) 6 If required, change the ID of the Gripper; ID numbers range from 1 to 4 Info The default Gripper ID allocated to the first device connected is 1. Fig. 4-4: Gripper ID modification in the Gripper Dashboard Info The E-Open and E-Close buttons allow the user to open and close the Gripper even if the latter is not activated. These emergency commands use very low speed and force settings. Robotiq Hand-E Gripper - Instruction Manual 72 Multiple Grippers Info The URCap allows the user to connect and control up to 4 Grippers at the same time. Caution If you wish to program using multiple grippers at the same time, connect them to the robot one after the other; each Gripper connection requiring its own scan and activation before going on to the next. For each Gripper connected, follow steps 3 to 6 set out in the Single Gripper section. Features Icon Functionality Name Description Dashboard After selecting Gripper in the left pane of the Installation tab, tap this button to access the Gripper Dashboard. Activate/Reactivate The Activate and Reactivate buttons enables the corresponding Gripper. Not activated/Activated Gripper status: One or the other of these icons is displayed next to the corresponding Gripper icon. Gripper Label indicating the Gripper's ID, ranging from 1 to 4. Scan Command allowing for a detection of connected Grippers. After tapping this button, the latter will display in the Gripper Dashboard. Change ID Tap the arrow next to the textbox to expand a list of available Gripper IDs. Selecting an available number will allocate it to the corresponding Gripper. E-Open Tapping this button sends an emergency open command to the corresponding Gripper, whether it is activated or not. E-Close Tapping this button sends an emergency close command to the corresponding Gripper, whether it is activated or not. Robotiq Hand-E Gripper - Instruction Manual 73 4.8.2. Gripper Calibration menu and wizard Depending on the fingers/fingertips used, the operator will calibrate the Gripper and measure the stroke by defining the fully open and fully closed positions. Make sure the Gripper is activated. 1 2 3 4 Go to the Installation tab Select Gripper in the left pane Tap the Calibration button at the top of the window Tap the Calibrate button next to the Gripper icon to launch the Calibration wizard Info A gripper that has not been calibrated will display open and closed values in percentage. Fig. 4-5: Gripper Calibration menu with Grippers, not calibrated (steps highlighted) Robotiq Hand-E Gripper - Instruction Manual 74 Tapping the Calibrate button in the Gripper Calibration menu launches the Calibration wizard. Follow the instructions on the screen of the teach pendant. Tip Depending on the PolyScope settings defined by the user, the units of measurement can either display according to the metric or imperial system. Fig. 4-6: First step of the calibration wizard Fig. 4-7: Second step of the calibration wizard Robotiq Hand-E Gripper - Instruction Manual 75 Following their respective calibration, the Grippers will display their actual stroke, from the fully closed to the fully open position. Fig. 4-8: Gripper Calibration menu with Grippers calibrated Features Icon Functionality Name Description Calibration After selecting the Gripper in the left pane of the Installation tab, tap this button to access the Gripper Calibration menu. Calibrate/Recalibrate The Calibrate and Recalibrate buttons launch the Gripper Calibration wizard. Default (%) Following a calibration, tap this button to reset the calibration and return to the default percentage values. The button is greyed out if no calibration has been performed for the corresponding Gripper. Gripper Label indicating the Gripper's ID , ranging from 1 to 4. Fully closed dimension table header Visual aid above the fully closed dimensions in the Calibration menu. Robotiq Hand-E Gripper - Instruction Manual 76 Icon Functionality Name Description Fully open dimension table header Visual aid above the fully open dimensions in the Calibration menu Close Tap this button to close the Gripper in the Calibration wizard. Open Tap this button to open the Gripper in the Calibration wizard. Fully closed Visual aid for entering the fully closed dimension in the Calibration wizard. Fully open Visual aid for entering the fully open dimension in the Calibration wizard. Continue Tap this button at the end of the first step of the Calibration wizard in order to go to the next step. Finish Tap this button at the the end of the Calibration wizard to complete the calibration process for the corresponding Gripper. Robotiq Hand-E Gripper - Instruction Manual 77 4.8.3. Gripper Toolbar The Gripper Toolbar is generally used to test and jog the Gripper, meaning it has no effect on the programming of the robot. Info The Gripper URCap package contains the Gripper toolbar. Therefore, the toolbar is automatically installed with the URCap package. The Gripper toolbar can be installed and used without the URCap package (please refer to the Gripper Toolbar section for information on how to install the toolbar and the driver package without the URCap). Overview Right after the installation of the Gripper URCap, a collapsed Gripper toolbar will display at the top of the screen; please refer to the figure below. Fig. 4-9: Gripper toolbar (collapsed) l Tap the collapsed Gripper toolbar to expand it. l When the Gripper is not activated, the toolbar displays the window in the figure below. Info If the Gripper has already been activated at this point, the toolbar will expand normally and allow for the testing and jogging features. If that is the case, please refer to the following subsection. Fig. 4-10: Gripper toolbar before activation (expanded) Info The Emergency open and Emergency close buttons allow the user to open and close the Gripper even if the latter is not activated. The emergency commands use very low speed and force settings. l Tap the Activate button to enable the Gripper Robotiq Hand-E Gripper - Instruction Manual 78 Single Gripper Caution If the Gripper has not been calibrated at this point, the Open and Close values will remain in percentage. Please refer to the Gripper Calibration menu and wizard section for instructions. Once the Gripper is activated, the toolbar can be expanded and used to test and jog the Gripper Fig. 4-11: Gripper toolbar after activation (expanded, single Gripper) Robotiq Hand-E Gripper - Instruction Manual 79 Multiple Grippers If multiple Grippers are used, check one or several Grippers and test their settings and features. Tip The first Gripper selected is the "master", meaning that its settings will be copied over to the others when they are selected. In order to modify each Gripper's settings individually, select a Gripper, edit it, uncheck its box and carry on to the next Gripper. Info For consistency, selecting multiple Grippers at the same time displays the open and close values in percentage since their stroke might be different. Fig. 4-12: Gripper toolbar (expanded, multiple Grippers) Robotiq Hand-E Gripper - Instruction Manual 80 Features Gripper activation Icon Functionality Name Description Gripper toolbar Tap to toggle between the expanded and collapsed Gripper toolbar. When greyed out, the functionality is not available. Activate Tap to activate the Gripper. The Gripper will fully open and close to set the zero of the position value. Emergency open Slowly moves the Gripper to its fully closed position. Emergency close Slowly moves the Gripper to its fully open position. Robotiq Hand-E Gripper - Instruction Manual 81 Gripper operation window Primary Icon Functionality Name Gripper toolbar Description Tap to toggle between expanded and collapsed Gripper toolbar. When greyed out, the functionality is not available. Open Tap to fully open the Gripper. Close Tap to fully close the Gripper. Requested position Shows the actual position of the Gripper according to the system of units defined in PolyScope (imperial vs. metric). If the Gripper is not calibrated, the values will display in percentage. Shows the actual speed set of the Gripper. Requested speed l 0% = minimum speed l 100% = maximum speed Shows the actual force set of the Gripper: Requested force l 0% : minimum force, regrasp feature disabled l 1% : minimum force, with regrasp feature enabled l 100% : maximum force, with regrasp feature enabled Plus Tap to increase the corresponding parameter. Minus Tap to decrease the corresponding parameter. No object detected Icon shown when no object is detected during a grasp. Object detected The icon shows a green checkmark when an object is detected during a grasp. Robotiq Hand-E Gripper - Instruction Manual 82 Show/hide Gripper Toolbar It is possible to toggle between a shown and a hidden Gripper Toolbar. 1 2 3 4 5 Create or load a robot program Tap the Installation tab Select Gripper in the left pane Tap the Dashboard submenu Check/Uncheck the box in the lower left corner 4.8.4. Gripper Node To add and edit a Gripper node inside your robot program, follow the steps below: l Tap Program Robot l Open an empty program or load one. Robotiq Hand-E Gripper - Instruction Manual 83 l Go to the Structure tab. l Go to the URCaps submenu. l Tap the Gripper button. Info A Gripper node will be inserted in the program after tapping the Gripper button. l Go to the Command tab to edit the Gripper node previously inserted. l Tap Edit action to edit the node's parameters. The Edit action screen will appear. Info The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script at the beginning of the program or activate with the Gripper toolbar. Starting from Gripper URCap version 1.0.2, the Gripper activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the Gripper's activation routine. Thus, if the Gripper was already activated, it will activate again. Command window The Command window shows the requested action parameters for the Gripper node. Depending on the position, speed and force parameters, warning messages may display. To edit the Gripper node, tap Edit action (please refer to the Edit action screen section for more details). Robotiq Hand-E Gripper - Instruction Manual 84 When the node is not defined, the Command window shows warning messages. Tap Edit action to modify the Gripper’s action. Caution Tap the Go to position button prior to editing the action. Whereas the command window displays the command that the Gripper should execute in this particular node, the Edit action screen displays the current Gripper position. When the node requests the Gripper to close/open, the Command window warns that a partial opening/closing should not be performed for picking an object. l l For positioning and partial movement of the hand, moving to a specific position (between the fully open and fully close positions) is suitable. To pick an object, use the close (or open) actions along with the object detection feature (please refer to the Edit action screen section). Info When the action is set for multiple Grippers, the header lists the selected Grippers (e.g. Grippers 1,2,3,4) Robotiq Hand-E Gripper - Instruction Manual 85 When the Gripper action is set to close, a green "Close" icon appears. When the Gripper action is to open, a green "Open" icon appears. Robotiq Hand-E Gripper - Instruction Manual 86 Features Icon Functionality Name Description Requested position Shows the position requested for the current Gripper node. Read only. Requested speed Shows the speed requested for the selected Gripper node. Read only. Requested force Shows the force requested for the selected Gripper node. Read only. Sends all node parameters (position, force, speed) to the Gripper. Go to position Edit action Complete motion Do not complete motion Note: This button is disabled (grey) when the Gripper is already at the node position or when the Gripper is not powered/activated. Opens the Edit action screen, where you can edit the Gripper’s action parameters. Selected by default. Selected: The Gripper completes its motion before executing the next action on the PolyScope program tree. This is slower but safer. Selected by default. Unselected: As soon as the Gripper starts moving, PolyScope will execute the next action on the program tree. This allows you to move the Gripper and robot at the same time. Warning message section Gripper not activated Gripper action undefined “Warning, the Gripper is not powered or not activated. The Gripper will not move.” Make sure that the Gripper is installed correctly and powered. You need to activate it using the Gripper toolbar before running Gripper commands. “Gripper action undefined! Please edit action.” When creating a new node, all action parameters are undefined. Tap the edit action button to define parameters. Robotiq Hand-E Gripper - Instruction Manual 87 Icon Functionality Name Object picking warning Description “Warning, if you are picking an object, use close (100%) or open (0%) position.” It is highly recommended to only use 0% or 100% position when trying to pick an object. Node name is automatically set to: l Node name l l Gripper Open, when position = 0% or fully open value as defined in the Calibration wizard Gripper Close, when position = 100% or fully closed value as defined in the Calibration wizard. Gripper Move x%/mm/in, when position is between the fully open and fully closed values. Open request When position requested is 0%, or the fully opened value defined in the Calibration wizard. Close request When position request is 100%. Robotiq Hand-E Gripper - Instruction Manual 88 Edit action screen Tap Edit action from the Command window and use the Edit action screen to edit the Gripper’s parameters and adjust its position, speed and force. In normal usage conditions, the Gripper will move as soon as you change the position setting. The Gripper will not move if it is not properly powered, connected and activated. Caution The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script at the beginning of the program or activate with the Gripper toolbar. Starting from Gripper URCap version 1.0.2, the gripper activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again. Single Gripper Fig. 4-13: Edit action screen, single Gripper Robotiq Hand-E Gripper - Instruction Manual 89 Multiple Grippers l l l l l l Robotiq Hand-E Gripper - Instruction Manual When selecting one gripper, all buttons are available. The action will apply to the selected gripper. When jogging the position, the selected gripper will move automatically. It is possible to jog the position (%). When selecting two or more grippers, it is not possible to jog the position. To jog the position, select only one gripper, jog the position and then select all grippers. The second gripper will move to the requested position. When no grippers are selected, the action cannot be edited. 90 Features Primary Icon Functionality Name Description Open Tap to fully open the Gripper. Use this when you want to grip an object (internal grip), for example. Close Tap to fully close the Gripper. Use this when you want to grip an object (external grip), for example. Requested position Shows the position request for the selected Gripper node. Requested speed Shows the speed requested for the selected Gripper node. Use the Plus and Minus icons to modify. Requested force Shows the force requested for the selected Gripper node. Use the Plus and Minus icons to modify. Plus Tap to increase the corresponding parameter. Minus Tap to decrease the corresponding parameter. Cancel Cancels modifications and brings back the Gripper node command screen. Save action Saves settings into the selected Gripper node and brings back the Gripper node command screen. Note: This functionality is not available (grey) when the Gripper has the same action parameters as the selected Gripper node. No object detected Icon shown when no object is detected during a grasp. Object detected Icon shows a green checkmark when an object is detected during a grasp. Robotiq Hand-E Gripper - Instruction Manual 91 Warning If the Gripper is powered and activated, it will move as soon as a change to the parameter is made (position, speed, force). Tip Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is recommended to use maximum speed and force. Grip Check node In order to add and edit a Grip Check node: 1 2 3 4 Open a robot program or create one Go to the Installation tab Tap the URCaps submenu Select Grip Check TheGrip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the object is not detected. Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to the object's dimension (in percentage if the Gripper is not calibrated, or in mm/in if the Gripper is calibrated— depending on the PolyScope configuration). Robotiq Hand-E Gripper - Instruction Manual 92 Given that the Grip Check node is an If statement, tapping the actual node in the Command tab brings up the option to add an Else instruction to the program tree. About In this window, the user can access information such as the Gripper's hardware, software and firmware versions, the number of cycles completed by the device and more. 1 Create or load a robot program 2 Tap the Installation tab 3 Select Gripper in the left pane 4 Tap the About submenu Robotiq Hand-E Gripper - Instruction Manual 93 Error messages overview If a program is running without the Gripper being activated, the program will stop at the execution of a Gripper node and the following message will be displayed in a popup. Tap Stop Program and activate the gripper with the toolbar to continue or add an activation command in the program (please refer to the Advanced Gripper Functions section). Caution Starting from Gripper URCap version 1.0.2, the Gripper activation command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again. Gripper Program Template With the URCap package installation, a program template will automatically be installed in the program folder of PolyScope. It contains comments and pop up windows that explain Gripper nodes and advanced functions. Load and open the gripper_tutorial.urp program located in the root program folder. Make sure the Gripper is well connected to the UR controller. Run the program. You will see pop up windows with comments on the Gripper nodes and advanced functions. Tip Use the gripper_tutorial.urp to learn how to program the Gripper using nodes and advanced functions. You can copy the tutorial and start a new program based on it. Robotiq Hand-E Gripper - Instruction Manual 94 Advanced Gripper Functions The use of Gripper URCap nodes allows to move the Gripper and modify its speed and force. However, some advanced functions are only available through UR Script commands. Info The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script at the beginning of the program or activate with the Gripper toolbar. The functions listed below can be called using subprograms in PolyScope or with a script. Functions with the suffix _and_wait will wait for the Gripper to complete its operation before going to the next step. Single Gripper Name Description rq_activate() Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution continues before the end of activation. rq_activate_and_wait() Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution waits for the activation. rq_auto_release_close_and_wait() Slowly moves the Gripper to its maximum closed position. The Gripper must be activated after this command. Meant for emergency procedures. rq_auto_release_open_and_wait() Slowly moves the Gripper to its maximum opened position. The Gripper must be activated after this command. Meant for emergency procedures. rq_close() Moves the Gripper its fully closed position. rq_close_and_wait() Moves the Gripper to its fully closed position and waits until the motion is completed to execute the next command. rq_current_pos() Returns the current position of the fingers, from 0 to 255. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_norm() Returns the current position of the fingers, normalized from 0% to 100%. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_mm() Returns the current position of the fingers in millimeters, considering that the PolyScope configuration has been set to use the metric system as measurement system. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_in() Returns the current position of the fingers in inches, considering that the PolyScope configuration has been set to use the imperial system as measurement system. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_go_to() Sets the Go To bit to 1. Robotiq Hand-E Gripper - Instruction Manual 95 Name Description rq_is_gripper_activated() Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True. Otherwise sets the variable to 0 and returns False. rq_is_motion_complete() Returns True if the motion of the Gripper is complete and False otherwise. Can be useful to synchronize a program after a Gripper node is run without the option “Complete Gripper motion before next action”. rq_is_object_detected() Returns True if the Gripper motion has stopped due to an object. Returns False if Gripper motion was not impeded by an object. Useful for verifying that an object has been picked correctly before going to the next step. Note: this function is not reliable for very small objects. Refer to the user manual for more details. rq_move_and_wait("position") Moves the Gripper to the position defined by the argument and waits until the motion is completed. rq_move("position") Moves the Gripper to the position defined by the argument. rq_move_and_wait_norm ("position") Moves the Gripper to the position defined by the argument, normalized from 0% to 100%. Waits until the motion is completed. rq_move_norm("position") Moves the Gripper to the position defined by the argument, normalized from 0% to 100%. rq_open() Moves the Gripper to its fully opened position. rq_open_and_wait() Moves the Gripper to its fully opened position and waits until the motion is completed. rq_print_gripper_driver_state() Prints the driver's state to the UR log window. rq_print_gripper_driver_version() Prints the driver version to the UR log window. rq_print_gripper_fault_code() Prints the Gripper's fault code in the UR log window. rq_print_gripper_firmware_version() Prints the Gripper's firmware version to the UR log window. rq_print_gripper_num_cycles() Prints the Gripper's number of cycles in the UR log window. rq_reset() Resets the Gripper's activation status. Use after an autorelease before activating the Gripper. rq_set_force("force") Sets the Gripper's force defined by the argument, from 0 to 255. rq_set_force_norm("force") Sets the Gripper's force defined by the argument, normalized from 0% to 100%. rq_set_speed("speed") Sets the Gripper's speed defined by the argument, from 0 to 255. rq_set_speed_norm("speed") Sets the Gripper's speed defined by the argument, normalized from 0% to 100%. rq_stop() Stops the Gripper's motion. The Go To bit is set to 0. Robotiq Hand-E Gripper - Instruction Manual 96 Multiple Grippers Here is an example of how to use the script commands with more than one gripper. Fig. 4-14: Example of UR script commands with multiple Grippers Robotiq Hand-E Gripper - Instruction Manual 97 The functions listed below can be called using subprograms in PolyScope or with a script. Functions with the suffix _and_wait will wait for the Gripper to complete its operation before going to the next step. Name Description rq_activate("gripper ID") Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution continues before the end of activation. rq_activate_and_wait("gripper ID") Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution waits for the activation. rq_auto_release_close_and_wait ("gripperID") Slowly moves the Gripper to its maximum closed position. The Gripper must be activated after this command. Meant for emergency procedures. rq_auto_release_open_and_wait ("gripperID") Slowly moves the Gripper to its maximum opened position. The Gripper must be activated after this command. Meant for emergency procedures. rq_close("gripper ID") Moves the Gripper its fully closed position. rq_close_and_wait("gripper ID") Moves the Gripper to its fully closed position and waits until the motion is completed to execute the next command. rq_current_pos("gripper ID") Returns the current position of the fingers, from 0 to 255. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_norm("gripper ID") Returns the current position of the fingers, normalized from 0% to 100%. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_mm("gripper ID") Returns the current position of the fingers in millimeters, considering that the PolyScope configuration has been set to use the metric system as measurement system. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_current_pos_in("gripper ID") Returns the current position of the fingers in inches, considering that the PolyScope configuration has been set to use the imperial system as measurement system. Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_go_to("gripper ID") Sets the Go To bit to 1. rq_is_gripper_activated("gripper ID") Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True. Otherwise sets the variable to 0 and returns False. rq_is_motion_complete("gripper ID") Returns True if the motion of the Gripper is complete and False otherwise. Can be useful to synchronize a program after a Gripper node is run without the option “Complete Gripper motion before next action”. rq_is_object_detected("gripper ID") Returns True if the Gripper motion has stopped due to an object. Returns False if Gripper motion was not impeded by an object. Useful for verifying that an object has been picked correctly before going to the next step. Note: this function is not reliable for very small objects. Refer to the user manual for more details. rq_move_and_wait("position", "gripper ID") Moves the Gripper to the position defined by the argument and waits until the motion is completed. Robotiq Hand-E Gripper - Instruction Manual 98 Name Description rq_move("position") Moves the Gripper to the position defined by the argument. rq_move_and_wait_norm ("position") Moves the Gripper to the position defined by the argument, normalized from 0% to 100%. Waits until the motion is completed. rq_move_norm("position", "gripper ID") Moves the Gripper to the position defined by the argument, normalized from 0% to 100%. rq_open("gripper ID") Moves the Gripper to its fully opened position. rq_open_and_wait("gripper ID") Moves the Gripper to its fully opened position and waits until the motion is completed. rq_print_gripper_driver_state ("gripper ID") Prints the driver's state to the UR log window. rq_print_gripper_driver_version ("gripper ID") Prints the driver version to the UR log window. rq_print_gripper_fault_code ("gripper ID") Prints the Gripper's fault code in the UR log window. rq_print_gripper_firmware_version ("gripper ID") Prints the Gripper's firmware version to the UR log window. rq_print_gripper_num_cycles ("gripper ID") Prints the Gripper's number of cycles in the UR log window. rq_reset("gripper ID") Resets the Gripper's activation status. Use after an autorelease before activating the Gripper. rq_set_force("force", "gripper ID") Sets the Gripper's force defined by the argument, from 0 to 255. rq_set_force_norm("force", "gripper ID") Sets the Gripper's force defined by the argument, normalized from 0% to 100%. rq_set_speed("speed", "gripper ID") Sets the Gripper's speed defined by the argument, from 0 to 255. rq_set_speed_norm("speed", "gripper ID") Sets the Gripper's speed defined by the argument, normalized from 0% to 100%. rq_stop("gripper ID") Stops the Gripper's motion. The Go To bit is set to 0. Robotiq Hand-E Gripper - Instruction Manual 99 4.8.5. Retro-compatibility of URCaps with legacy driver programs The Gripper URCap can be used within programs that were made with the legacy driver package. To do so, you need to do the following modifications: 1. Open your .urp program in PolyScope and execute it. a. You should see an error message that tells you that some functions are double defined. This is because the URCap embeds the functions directly in the program preamble, so there is no need for a BeforeStart section. 2. Comment all the lines of the BeforeStart section from your older .urp program. a. You will still get an error. It arises because we changed some functions names due to a naming conflict. 3. To solve the problem, you can either suppress those functions or rename them. Since they are probably not used in a production program, the fastest would be to suppress them, as shown in the figure below. Fig. 4-15: Older program's subprograms to suppress or rename to use with URCaps package. Here is the list of the functions that were renamed: l rq_print_fault_code -> rq_print_gripper_fault_code l rq_print_num_cycles -> rq_print_gripper_num_cycles l rq_print_driver_state -> rq_print_gripper_driver_state l rq_print_firmware_version -> rq_print_gripper_firmware_version l rq_print_driver_version -> rq_print_gripper_driver_version Robotiq Hand-E Gripper - Instruction Manual 4.9. Control over Universal Robots without URCaps If your Universal Robots controller is not compatible with the URCap package (see Installation for Universal Robots section) for compatibility), you can install the driver package. This package allows programming of the Gripper with scripts in a PolyScope program. It includes program templates and examples to help you get started with your own custom program. It also contains the Gripper toolbar for jogging and controlling the Gripper. 4.9.1. Gripper Toolbar Overview The Gripper toolbar is automatically installed with the driver package. The Gripper toolbar allows you to jog and test the Gripper. It is a great tool to try grasps with the Gripper while programming. Toolbar collapsed Toolbar expanded, Gripper activation window l Tap the Gripper button to expand the toolbar. Toolbar expanded, Gripper operation window : When the Gripper is not activated, the toolbar shows this window. l l You need to tap the Activate button to be able to jog the Gripper. Emergency open and close allows you to control the Gripper without activating, this mode will use a very low speed and force setting Use the buttons of this window to jog and test the Gripper. Robotiq Hand-E Gripper - Instruction Manual 101 Features Toolbar collapsed Icon Functionality Name Description Gripper toolbar Tap to toggle between expand and collapse the Hand-E Gripper toolbar. When grey, the functionality is not available. Activate Tap to activate the Hand-E Gripper. The Gripper will fully open and close to set the zero of the position value.. Emergency open Slowly moves the Gripper to its fully closed position. Emergency close Slowly moves the Gripper to its fully open position. Robotiq Hand-E Gripper - Instruction Manual Toolbar expanded Icon Functionality Name Description Gripper toolbar Tap to toggle between expand and collapse the Hand-E Gripper toolbar. When grey, the functionality is not available. Open Tap to fully open the Gripper. Close Tap to fully close the Gripper. Shows the actual position of the Gripper: Position Requested position l 0% : fully open l 100% : fully closed Shows the actual speed set of the Gripper: Speed Requested speed l 0% : minimum speed l 100% : maximum speed Shows the actual force set of the Gripper: Force Requested force l 0% : minimum force, regrasp feature disabled l 1% : minimum force, with regrasp feature enabled l 100% : maximum force, with regrasp feature enabled Increase force Tap to increase the force request. Decrease force Tap to decrease the force request. Increase speed Tap to increase the speed request.. Decrease speed Tap to decrease the speed request. No object detected Icon shown when no object is detected during a grasp. Object detected Icon shown when an object is detected during a grasp. Robotiq Hand-E Gripper - Instruction Manual 103 When communication with the Gripper is not established, the expanded toolbar shows the driver version: Fig. 4-16: Gripper toolbar expanded with driver version Info The driver state "RQ_STATE_INIT" means the driver is attempting to connect to a Robotiq Gripper. When connection is established, the normal toolbar detailed above will appear. Tip If you see the following toolbar with communication not established, check if your Gripper is powered first, then check if the RS-485 to USB converter is properly wired. Robotiq Hand-E Gripper - Instruction Manual 4.9.2. Demo Scripts The following section details the demo scripts provided with the driver package. pick_and_place_demo_with_subprograms.script is a demo script for pick and place applications using provided subprograms. The script uses subprograms included in the package such as rq_set_force, rq_set_speed, etc. Info All provided subprograms are identified with the prefix rq_. The script uses rq_speed and rq_force as speed and force parameters to be used during the program. They can be modified using values from 0 to 255 (please refer to the Provided Variables and Functions section). The script executes the following actions in sequence : l Assign initial values to the global variables in the Init Variables section. l Initiate the communication with the Gripper in the BeforeStart section. l The Robot Program section contains the commands sent to the Gripper: l Activate the Gripper with SubP_rq_activate_and_wait. Info Remember that all _and_wait subprograms will wait for the action to be completed before going to the next step. l Move the robot to a predetermined position Tip Run with Universal Robots simulator first or make sure that the UR robot work area is totally cleared before running the script, as it will move the robot. l Close the Gripper with rq_close_and_wait. l Watch for object detection status: l If an object is detected, the script moves the robot and opens the Gripper. l If no object is detected, the script prompts a warning .pick_and_place_demo_async_partial_opening_without_subprograms.script is similar to the previous demo, but without using subprograms. This demo uses asynchronous commands so that the robot and the Gripper will move at the same time (the previous example had the Gripper and the robot move separately). Robotiq Hand-E Gripper - Instruction Manual 105 4.9.3. Custom Programs You can create your own program that commands the Gripper with the provided templates : l Open basic_template.script in the list of provided templates; l Push play to test the Gripper. The program will activate the Gripper and then do a loop of closing and opening the Gripper; l Add your instructions under the robot program section. Program instructions can be added with PolyScope. When programming an object pick up, use the rq_is_object_detected subprogram and rq_object_detect variable to know if an object has been picked. The subprogram sets the rq_object_detect variable to 1 if an object is detected, 0 otherwise. Subprograms with the _and_wait will wait for the instruction to be completed before going to the next step. For example, rq_ close_and_wait will wait for the motion to be completed before continuing to the next step, while rq_close will initiate motion and go to the next programmed step. As shown in the figure below, the basic_template program will execute these instructions in a sequence: l Assign initial values to the global variables with the Init Variables section. l Initiate communication with the Gripper with the Before Start section. l The Robot Program section contains the commands sent to the Gripper: l Activate the Gripper with SubP_rq_activate_and_wait. l Close the Gripper with rq_close_and_wait. l Open the Gripper with rq_open_and_wait. Fig. 4-17: Basic template as shown in UR PolyScope. When using the advanced_template, you have access to all of the subprograms listed in the Provided Variables and Functions section. Unused subprograms can be removed from the list. You must use global variables to pass information, not arguments. Robotiq Hand-E Gripper - Instruction Manual 4.9.4. Provided Variables and Functions The file rq_script.script contains function definitions and variables that enhance the programming of the Gripper. Here is the list of these variables and functions. Variables are used when programming the Gripper using subprograms. Since it is not possible to pass arguments to subprograms, the global variables listed below must be used. Name Range Description rq_force() [0-255] Force set point. Change this variable by calling the subprogram SubP_rq_set_force. rq_gripper_ act() [0-1] 1 if the Gripper is activated. This variable is updated by calling either SubP_rq_is_gripper_ activated or SubP_rq_activate_and_wait. 1 if the motion is complete. This variable is updated by calling one of the following: rq_move_ complete() [0-1] l SubP_rq_move_and_wait; l SubP_rq_open_and_wait; l SubP_rq_close_and_wait; l SubP_rq_is_motion_complete. 1 if an object is detected. This variable is updated by calling one of the following: rq_object_ detect() [0-1] l SubP_rq_move_and_wait; l SubP_rq_open_and_wait; l SubP_rq_close_and_wait; l SubP_rq_is_object_detected. rq_pos() [0-255] Position set point. This variable is updated by calling SubP_rq_current_pos. rq_speed() [0-255] Speed set point. Change this variable by calling the subprogram SubP_rq_set_speed. Robotiq Hand-E Gripper - Instruction Manual 107 Name Description rq_activate() Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution continues before the end of activation. rq_activate_and_wait() Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be activated to complete any other operation. Program execution waits for the activation. rq_auto_release_close_and_ wait() Slowly moves the Gripper to its maximum closed position. The Gripper must be activated after this command. Meant for emergency procedures. rq_auto_release_open_and_ wait() Slowly moves the Gripper to its maximum opened position. The Gripper must be activated after this command. Meant for emergency procedures. rq_close() Moves the Gripper its fully closed position. rq_close_and_wait() Moves the Gripper to its fully closed position and waits until the motion is completed to execute the next command. rq_current_pos() Sets global variable rq_pos to the current Gripper position and returns this value. rq_is_gripper_activated() Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True. Otherwise sets the variable to 0 and returns False. rq_is_motion_complete() Sets global variable rq_mov_complete to 1 if the Gripper motion is complete and returns True. Otherwise sets the variable to 0 and returns False. rq_is_object_detected() Sets global variable rq_obj_detect to 1 if the Gripper has detected an object and returns True. Otherwise, sets the variable to 0 and returns False. rq_move_and_wait() Moves the Gripper to the position defined by the argument and waits until the motion is completed. rq_move() Moves the Gripper to the position defined by the argument. rq_open() Moves the Gripper to its fully opened position. rq_open_and_wait() Moves the Gripper to its fully opened position and waits until the motion is completed. rq_set_force() Writes the value of rq_force into the force setting. rq_set_speed() Writes the value of rq_speed into the speed setting. Robotiq Hand-E Gripper - Instruction Manual 5. User 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. Robotiq Hand-E Gripper - Instruction Manual 6. Specifications Info The following manual uses the metric system, unless specified, all dimensions are in millimeters. The 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 110 6.1. Technical 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) Robotiq Hand-E Gripper - Instruction Manual 6.1.1. Couplings Hand-E requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Blank 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 Robotiq Hand-E Gripper - Instruction Manual 112 Coupling for ISO 9409-1-50-4-M6 Bolt pattern 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. Robotiq Hand-E Gripper - Instruction Manual Coupling for ISO 9409-1-31.5-4-M5 Bolt pattern for coupling AGC-CPL-063-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 31.5 mm pitch circle diameter: l (4) M5-0.8 low head socket cap screw clearance l (1) M5 indexing pin l ISO 9409-1 standard 31.5-4-M5 Fig. 6-4: Coupling for ISO 9409-1-31.5-4-M5. Robotiq Hand-E Gripper - Instruction Manual 114 Coupling for ISO 9409-1-40-4-M6 Bolt pattern for coupling AGC-CPL-064-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 40 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 40-4-M6 Fig. 6-5: Coupling for ISO 9409-1-40-4-M6. Robotiq Hand-E Gripper - Instruction Manual Coupling for PCD 56 with 8 x M4 Bolt pattern for coupling AGC-CPL-065-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 56 mm pitch circle diameter: l (8) M4-0.7 low head socket cap screw clearance l (1) M4 indexing pin l 62 mm diameter internal insert Fig. 6-6: Coupling for PCD 56 mm with 8 x M4 clearance. Info Although coupling AGC-CPL-065-002 is compatible with 8 x M4 threads on a 56 mm PCD it uses only 6 of the 8 normally present holes. Robotiq Hand-E Gripper - Instruction Manual 116 Coupling for PCD 56 with 6 x M4 Bolt pattern for coupling AGC-CPL-066-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 56 mm pitch circle diameter: l (6) M4-0.7 low head socket cap screw clearance l (1) M6 indexing pin l 42 mm diameter external insert Fig. 6-7: Coupling for PCD 56 mm with 6 x M4 clearance. Robotiq Hand-E Gripper - Instruction Manual Coupling for PCD 60 with 4 x M5 Bolt pattern for coupling AGC-CPL-067-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 60 mm pitch circle diameter: l (4) M5-0.8 low head socket cap screw clearance l (1) M5 indexing pin l 34 mm diameter external insert Fig. 6-8: Coupling for PCD 60 mm with 4 x M5 clearance. Robotiq Hand-E Gripper - Instruction Manual 118 Coupling for PCD 63 with 6 x M6 Bolt pattern for coupling AGC-CPL-068-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 63 mm pitch circle diameter: l (6) M6-1.0 low head socket cap screw clearance l (2) M6 indexing pins Fig. 6-9: Coupling for PCD 63 mm with 6 x M6 clearance. Robotiq Hand-E Gripper - Instruction Manual 6.1.2. Fingers and fingertips The contact grip points for Hand-E are its two fingertip pads. Fingertip options are supplied by Robotiq (please refer to the Spare Parts, Kits and Accessories section). Users can create their own fingertips from scratch. The figure below represents the fingertip holder, the permanent, non customizable part of the Gripper finger on which the fingertip must be mounted. Custom fingertip design must meet the following specifications: l Forces exerted at the end of the fingertips must not 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 fingertips directly on the rack or on the fingertip holder. Tip Fingertips can be mounted directly on the racks or on fingertip holders. Rack A finger is installed directly on a rack. You may customize your own fingers that will mount on this part. The basic aluminum fingers (HND-FIN-ALU-KIT) are mounted directly onto it. Fig. 6-10: Racks in rack housing Robotiq Hand-E Gripper - Instruction Manual 120 Basic aluminum finger The figure below represents the basic aluminum fingertip (HND-FIN-ALU-KIT); please refer to the Spare Parts, Kits and Accessories section. This finger allows a 0-50 mm stroke. Fig. 6-11: 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. 6-12: Fingertip holder Robotiq Hand-E Gripper - Instruction Manual Flat silicone fingertip The figure below represents a flat silicone 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. 6-13: Flat silicone fingertip Robotiq Hand-E Gripper - Instruction Manual 122 Grooved fingertip The figure below the available grooved fingertip (HND-TIP-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. 6-14: Grooved fingertip Robotiq Hand-E Gripper - Instruction Manual 6.2. Mechanical specifications 6.2.1. Specifications: Specification Metric Units Imperial Units Gripper opening 0 - 50 mm 0 - 1.97 in. Maximum recommended payload 5 kg 11 lbs 3.3 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 60 - 130 N 13.5 - 27 lbf Finger speed 20 to 150 mm/s 0.8 to 5.9 in/s Maximum recommended payload, friction grip Info All specs are measured with coupling GRP-CPL-062 and basic aluminum fingertips (HND-FIN-ALU-KIT). Robotiq Hand-E Gripper - Instruction Manual 124 Payload and force Actuation force model used to calculate the recommended friction payload (W): where: l F is the force that is applied to the load by the Gripper. l Cf is the friction coefficient between the fingertip and the part load. l Sf is a safety factor to be determined by the robot integrator. Fig. 6-15: Actuation force on the fingertip of the Hand-E Gripper Info l The Actuation Force is the force that can be applied to an object by the motor of the Gripper. l The Gripper has a power off brake. This means that when no power 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 will be held by the Gripper when not moving (standing still). When accelerating, the payload will decrease. The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient. Warning You must consider the robot acceleration in your payload calculations. Robot emergency stops will lead to major deceleration velocities. Robotiq 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. TCP (mm) End-of-arm tooling Center of mass (mm) Gripper 1 Gripper 2 X Y Z Mass (g) X Y Z X Y Z FT 300 Force Torque Sensor 0.0 0.0 37.5 - - - 0.0 0.0 17.0 300.0 Wrist Camera 0.0 0.0 23.5 - - - 0.0 5.0 9.0 230.0 2F-85 0.0 0.0 171.0 - - - 0.0 0.0 57.0 900.0 2F-140 0.0 0.0 241.0 - - - 0.0 0.0 66.0 975.0 Hand-E 0.0 0.0 156.8 - - - 0.0 0.0 58.0 1070.0 FT Sensor + 2F-85 0.0 0.0 208.5 - - - 0.0 0.0 75.1 1200.0 FT Sensor + 2F-140 0.0 0.0 278.5 - - - 0.0 0.0 83.1 1275.0 FT Sensor + Hand-E 0.0 0.0 194.3 - - - 0.0 0.0 78.3 1370.0 Camera + 2F-85 0.0 0.0 194.5 - - - 0.0 1.0 65.9 1130.0 Camera + 2F-140 0.0 0.0 264.5 - - - 0.0 1.0 74.1 1205.0 Camera + Hand-E 0.0 0.0 180.3 - - - 0.0 0.9 68.7 1300.0 FT Sensor + Camera + 2F-85 0.0 0.0 232.0 - - - 0.0 0.8 85.3 1430.0 FT Sensor + Camera + 2F-140 0.0 0.0 302.0 - - - 0.0 0.8 92.8 1505.0 FT Sensor + Camera + Hand-E 0.0 0.0 217.8 - - - 0.0 0.7 89.5 1600.0 Hand-E/Hand-E 153.9 0.0 137.9 -153.9 0.0 137.9 0.0 0.0 62.2 2405.0 Hand-E/2F-85 153.9 0.0 137.9 -163.9 0.0 147.9 6.7 0.0 61.5 2235.0 Hand-E/2F-140 153.9 0.0 137.9 -213.4 0.0 197.4 1.1 0.0 64.4 2310.0 2F-85/2F-85 163.9 0.0 147.9 -163.9 0.0 147.9 0.0 0.0 60.7 2065.0 2F-85/2F-140 163.9 0.0 147.9 -213.4 0.0 197.4 -5.8 0.0 63.8 2140.0 2F-140/2F-140 213.4 0.0 197.4 -213.4 0.0 197.4 0.0 0.0 66.7 2215.0 Camera + Hand-E/Hand-E 153.9 0.0 161.4 -153.9 0.0 161.4 0.0 0.4 79.0 2635.0 Camera + Hand-E/2F-85 153.9 0.0 161.4 -163.9 0.0 171.4 6.1 0.5 77.9 2465.0 Camera + Hand-E/2F-140 153.9 0.0 161.4 -213.4 0.0 220.9 1.0 0.5 80.7 2450.0 Camera + 2F-85/2F-85 163.9 0.0 171.4 -163.9 0.0 171.4 0.0 0.5 76.6 2295.0 Camera + 2F-85/2F-140 163.9 0.0 171.4 -213.4 0.0 220.9 -5.3 0.5 79.7 2370.0 Robotiq Hand-E Gripper - Instruction Manual 126 TCP (mm) End-of-arm tooling Gripper 1 Center of mass (mm) Gripper 2 X Y Z Mass (g) X Y Z X Y Z Camera + 2F-140/2F-140 213.4 0.0 220.9 -213.4 0.0 220.9 0.0 0.5 82.6 2445.0 FT Sensor + Hand-E/Hand-E 153.9 0.0 175.4 -153.9 0.0 175.4 0.0 0.0 90.6 2705.0 FT Sensor + Hand-E/2F-85 153.9 0.0 175.4 -163.9 0.0 185.4 5.9 0.0 89.3 2535.0 FT Sensor + Hand-E/2F-140 153.9 0.0 175.4 -213.4 0.0 234.9 0.9 0.0 92.1 2610.0 FT Sensor + 2F-85/2F-85 163.9 0.0 185.4 -163.9 0.0 185.4 0.0 0.0 87.9 2365.0 FT Sensor + 2F-85/2F-140 163.9 0.0 185.4 -213.4 0.0 234.9 -5.1 0.0 90.9 2440.0 FT Sensor + 2F-140/2F-140 213.4 0.0 234.9 -213.4 0.0 234.9 0.0 0.0 93.8 2515.0 FT Sensor + Camera + HandE/Hand-E 153.9 0.0 198.9 -153.9 0.0 198.9 0.0 0.4 106.4 2935.0 FT Sensor + Camera + HandE/2F-85 153.9 0.0 198.9 -163.9 0.0 208.9 5.4 0.4 104.7 2765.0 FT Sensor + Camera + HandE/2F-140 153.9 0.0 198.9 -213.4 0.0 258.4 0.9 0.4 107.5 2840.0 FT Sensor + Camera + 2F85/2F-85 163.9 0.0 208.9 -163.9 0.0 208.9 0.0 0.4 102.9 2595.0 FT Sensor + Camera + 2F85/2F-140 163.9 0.0 208.9 -213.4 0.0 258.4 -4.7 0.4 105.9 2670.0 FT Sensor + Camera + 2F140/2F-140 213.4 0.0 258.4 -213.4 0.0 258.4 0.0 0.4 108.8 2745.0 The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below. Fig. 6-16: Inertia matrix for Hand-E Robotiq Hand-E Gripper - Instruction Manual 6.2.3. Moment and force limits The Hand-E Gripper has limits for moment and force values. The listed moments and forces are independent to the force applied by the Gripper itself on its payload. For payload calculation, please refer to the Payload and force section. Warning The following limits must be respected at all times. Calculation of maximum moment and force should include robot acceleration 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. 6-17: Reference frame for maximum force and moment values applied to the fingers Usage examples with listed limits: l l After picking its normal payload, the robot can use Hand-E to apply up to 50 N of force in any direction. Applying more than 50 N can damage the Gripper or result in payload loss. The Gripper can pick a screwdriver and apply 2 Nm of torque to screw (such a moment would be applied in the Z axis). Robotiq Hand-E Gripper - Instruction Manual 128 6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) 1W Peak current 1.1 A Robotiq Hand-E Gripper - Instruction Manual 7. Maintenance Hand-E requires only external maintenance with limited downtime. Maintenance is required after specified usage, measured in cycles (open and close motion of the gripper). Following the maintenance interval will ensure : l Correct functioning of your Gripper. l Validity of your warranty. l Proper lifetime for your Gripper. Warning Unless otherwise indicated, any repairs done on the Gripper will be performed by Robotiq. Info A cycle is defined as a go to requested position command that results in grip force being applied (picking an object while opening or closing or closing the fingers on themselves). Maintenance Intervals Operation Gripper Cleaning Daily Dirty conditions Periodic Inspection Rack and pinion mechanism cleaning Weekly 1 M cycles 2 M cycles Normal conditions X X Maintenance operations are for the average normal usage of the Gripper, the maintenance intervals must be adjusted according to environmental conditions such as: l Operating temperature l Humidity l Presence of chemical(s) l Presence of physical parts (debris, scraps, dust, grease etc.) l Interaction with operated parts (sharp or rough) l Dynamics of the operation (accelerations) Robotiq Hand-E Gripper - Instruction Manual 130 7.1. Gripper cleaning Maintenance Interval Weekly or daily in dirty operating conditions Tools You Need l 4 mm hex key l Dry tissue or towel l Medium strength thread locker Parts You Need None (unless damage is detected) Caution Hand-E is not waterproof or water resistant without additional protection; clean the Gripper with a dry towel. Info Always turn off the robot and the Gripper power supply before performing any maintenance operations. Caution The maintenance operator must be grounded to prevent electrostatic discharge that could damage the 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 to the electrical contact. 4. Visually inspect the Gripper and pay attention to any visible damage. 5. Put the coupling back on and fix it with the four (4) M5-0.8 x 35mm socket head cap screws, use the tooth lock washers, apply medium strength thread locker to the M5 screws. Robotiq Hand-E Gripper - Instruction Manual When cleaning the Gripper, verify that the fingers or fingertips are still intact. If there is wear visible, you can change the fingers or fingertips, using the ones provided by Robotiq or custom ones. See Spare parts and accessories section to order Hand-E replacement parts. In order to replace a finger: l Remove the worn finger 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 the fingertip holder. l Fix the fingertip using the provided M3 screws, apply low strength thread locker to the M3 screw threads. l Repeat for remaining fingertip. Robotiq Hand-E Gripper - Instruction Manual 132 7.2. Periodic inspection Maintenance Interval Monthly Tools You Need l 4 mm hex key l Dry tissue or towel l Medium strength thread locker Parts You Need None (unless damage is detected) Info Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper. 1. Remove and clean the Gripper following instructions in the Gripper cleaning section 2. Inspect the Gripper l l l l Finger movement must be symmetric and fluid; test opening and closing of the Gripper: Finger or fingertip wear must not affect gripping, if wear is visible and affects movement, change accordingly (refer to the Gripper cleaning section) Check for any collision damage, if damage is visible, contact support@robotiq.com Check for any sign of wear on the Gripper chassis; if wear is present and may affect the Gripper, contact support@robotiq.com 3. Put back in place according to the instructions from the Gripper cleaning section Robotiq Hand-E Gripper - Instruction Manual 7.3. Rack & pinion mechanism cleaning Maintenance Interval Every 2M cycles or more frequently in dirty operating conditions Tools You Need Parts You Need l 4 mm hex key l Dry tissue or towel l Medium strength thread locker l Grease (Mobilith SHC1500 or equivalent) l Degreaser Info Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper. l l Open the Gripper to an intermediate position, so you do not hide the 6 M5 screws holding the rack housing in place. Remove the Gripper from its coupling using the 4 mm hex key to unscrew the four (4) M5-0.8 x 25mm screws. Note that each screw uses a toothed lock washer, do not lose them. l Remove the 6 M5 screws holding the rack housing. l Gently pull the rack housing away from the body of the Gripper. l Remove the pinion and key from the drive shaft, make sure you keep them in a safe space. l The finger's racks will slide off 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 the Gripper according to the procedure described in the Gripper cleaning section. l Visually inspect the Gripper and pay attention to any visible damage. l Apply grease on the racks. Put it on all surfaces except the face with the tapped holes. Info Use Mobilith SHC1500 grease or an equivalent. l Insert the pinion with the key in the keyhole on the shaft. l Slide the racks back in the rack housing. l Reinsert the rack housing with racks on the Gripper. Make sure the racks go in symmetricaly compared to the center of the gripper. l Fix the 6 M5 screws to secure the rack housing. l Put the gripper back on the coupling and fix it with the four (4) M5-0.8 x 25mm screws, use the tooth lock washers, apply medium strength thread locker to the M5 screws. Robotiq Hand-E Gripper - Instruction Manual 8. Spare Parts, Kits and Accessories The following list is up-to-date at print time and is subject to change, check online for updates. Info Unless specified, screws, dowel pins and other hardware are included only for the Gripper side, never for the robot side. Item Hand-E Basic Gripper Unit Kit for Universal Robots Controller Description Ordering Number Hand-E basic gripper unit, includes aluminum fingers (HNDFIN-ALU-KIT) l Gripper basic unit (HND-GRP-001) l Fingertip starting kit (HND-TIP-START-KIT) l End-effector coupling kit (GRP-CPL-062) l 10-metre Robotiq device cable l RS485 to USB adapter l Screw kit l USB stick to install the UR software package HND-GRP-001 HND-UR-KIT Optional controller for industrial communications see Robotiq Universal Controller Items UNI-CTR-XXXX Aluminum finger kit, includes: Aluminum Finger Kit l 2 x basic aluminum finger l 1 x screw kit HND-FIN-ALU-KIT Fingertip Starting Kit includes: Fingertip Starting Kit 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 Flat Silicone Fingertip Kit* includes: Flat Silicone Fingertip Kit l 2 x flat rubber fingertip l 1 x screw kit HND-TIP-SLC-KIT *Silicone fingertips must be mounted on fingertip holders (HND-TIP-HLD-KIT) V-Groove Fingertip Kit* includes: V-Groove Fingertip Kit l 2 x V-groove aluminum fingertip l 1 x screw kit HND-TIP-VGR-KIT Robotiq Hand-E Gripper - Instruction Manual 135 Item Description Ordering Number *V-Groove fingertips must be mounted on fingertip holders (HND-TIP-HLD-KIT) Hand-E Fingertip Holder Kit includes: Fingertip Holder Kit l 2 x fingertip holder l 1 x screw kit HND-TIP-HLD-KIT 10m Device Cable 10 m Robotiq device cable for power and communication. Straight M12 5-pins female on one side, single ended on the other, shielded CBL-COM-2065-10-HF USB to RS485 adapter USB to RS485 adapter, can be used with device cable for USB connection ACC-ADT-USB-RS485 The screw kit contains: Hand-E Screw Kit l 4 x M5 screws l 4 x Lock washer HND-SCREW-KIT 16G USB Stick USB stick to install the UR software package ACC-USB-16G 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 Adapter plate to 63-4M6-61_ 4-2D6 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 63 mm PCD1 with (4) M6 screws and 61.4 mm PCD 1 with (2) M6 indexing pins AGC-APL-152-002 Adapter plate to 80-6M8-2D82D8 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD1 with (6) M8 screws and (2) M8 indexing pins AGC-APL-153-002 1Pitch Circle Diameter 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 Number Blank coupling Blank coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable AGC-CPL-BLANK002 ISO 9409-1-31.5-4-M5 coupling ISO 9409-1-31.5-4-M5 coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable AGC-CPL-063-002 ISO 9409-1-40-4-M6 coupling ISO 9409-1-40-4-M6 coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable AGC-CPL-064-002 56-8M4-1D4 coupling Coupling for 56 mm PCD1 with (8) M4 and (1) 4mm indexing pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-065-002 56-6M4-1D6 coupling Coupling for 56 mm PCD1 with (6) M4 and (1) 6mm indexing pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-066-002 60-4Ø5-1D5 coupling Coupling for 60 mmPCD1 with (4) M5 thread and (1) 5mm indexing pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-067-002 Robotiq Hand-E Gripper - Instruction Manual Item Description Ordering Number 63-6M6-2D6 coupling Coupling for 63 mm PCD1 with (6) M6 and (2) 6mm indexing pins, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-068-002 40-4M5-1D3 coupling Coupling for 40 mm PCD1 with (4) M5 and (1) 3mm indexing pins, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-070-002 31.5-4M4 coupling Coupling for 31.5 mm PCD1 with (4) M4, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-071-002 Adapter plate to 63-4M6-71-2D3 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 63 mm PCD1 with (4) M6 screws and 71 mm PCD1 with (2) M3 indexing pins AGC-APL-151-002 Adapter plate to 63-4M6-61_ 4-2D6 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 63 mm PCD1 with (4) M6 screws and 61.4 mm PCD 1 with (2) M6 indexing pins AGC-APL-152-002 Adapter plate to 80-6M8-2D82D8 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD1 with (6) M8 screws and (2) M8 indexing pins AGC-APL-153-002 1Pitch Circle Diameter Robotiq Hand-E Gripper - Instruction Manual 9. Troubleshooting When using Hand-E with a USB to RS485 serial converter: Troubleshooting from the Gripper LED 1. LED is not lit: Gripper not powered. a. Check Gripper power supply and electrical setup, see Section 3.5. 2. LED is solid blue and red: Gripper is in fault. a. Disconnect the communication and power cycle the Gripper. The led should turn solid red when powered. b. While powered with red LED, connect the communication, LED should turn solid blue when connection is established. 3. Flashing blue and red LEDs: Gripper is in fault. a. Gripper may be in auto-release, wait for auto-release to be completed, then turn off auto-release and initialize the Gripper. b. Gripper may have a major fault, check the error from fault status and contact support. 4. Solid blue LED: no fault and communicating. a. If you can control the Gripper from the GUI on the pendant, check your program structure. b. If you can not control the Gripper from the pendant, contact support. 5. Solid red LED: no fault, but Gripper is not communicating. a. USB-RS485 converter LEDs are : l Not lit: no USB communication. i. Check USB connection. ii. Re-install drivers. iii. Contact support. l Red LED flashes at slow rate. i. Check the DB-9 connector. ii. Check the cable. iii. Check the communication parameters from the Robotiq User Interface, see recovery procedure. iv. Contact support. l Red and green LEDs flashing at high speed. i. Check fault status, maximum operating temperature could be exceeded. ii. Contact support. Robotiq Hand-E Gripper - Instruction Manual 138 When using Hand-E with Universal Robots package: Troubleshooting from the previous section (LED references) still applies. From the UR teach pendant URCap installation: 1. Verify that the latest URCap is installed from the "Robot Setup" menu, inside the "URCaps" tab a. URCaps installation instructions can be found in the URCap Package section b. Inside the URCaps menu, if you select the appropriate URCap file, you can see the current software version c. Gripper toolbar should appear if installed properly 2. URCap is installed but Gripper cannot be controlled: a. If Gripper LED is not blue, follow the steps in the section above b. If Gripper LED is blue, URCap is installed with the latest available version, contact support@robotiq.com Robotiq Hand-E Gripper - Instruction Manual Robotiq Hand-E Gripper - Instruction Manual 10. Warranty and Patent Robotiq warrants Hand-E against defects in material and workmanship for a period of one year from the date of reception when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use. The warranty applies under the following conditions: l Usage respects the operating and storage conditions specified in the Environmental and Operating Conditions section l Proper installation of the Gripper specified in the Installation section and following subsections. l Until a 2 000 000 cycle count1 has been reached. l Usage respects maintenance specified in the Maintenance section. l Usage respects recommended payload and forces specified in the Mechanical specifications section. 1Cycle count: One (1) cycle is defined as an object picking attempt, successful or not(open or closing onto an object, or closing on itself). It is calculated in the internal memory of the Hand-E Gripper and can been seen on the teach pendant when using with Universal Robots or with the Robotiq User Interface. During the warranty period, Robotiq will repair or replace any defective Hand-E, as well as verify and adjust the Gripper free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the equipment is sent back for verification during the warranty 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 fingertips are not covered by the warranty. Caution The warranty will become null and void if: l The unit has been tampered with, repaired or worked on by unauthorized individuals. l The warranty sticker has been removed. l The screws, other than as explained in this guide, have been removed. l The unit has been opened other than as explained in this guide. l Unit serial number has been altered, erased, or removed. l Unit has been misused, neglected, or damaged by accident. This warranty is in lieu of all other warranties expressed, implied, or statutory, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. In no event shall Robotiq be liable for special, incidental, or consequential damages. Robotiq shall not be liable for damages resulting from the use of the Hand-E, nor shall Robotiq be responsible for any failure in the performance of other items to which Hand-E is connected or the operation of any system of which the Gripper may be a part. Robotiq Hand-E Gripper - Instruction Manual 11. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (+1) 418-380-2788 Outside 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 12. Harmonized Standards, Declarations and Certificates 12.1. Translation of original EC declaration of incorporation Translation of Original Declaration of Incorporation In terms of the Directive 2006/42/EC, Annex II, part B of the European Parliament and of the Council on machinery, we, the manufacturer, Robotiq Inc. 966, Chemin Olivier, suite 500 Lévis, Québec, Canada, G7A 2N1 hereby declares that the following product: Robotiq Hand-E Gripper meets the applicable requirements of the Machinery Directive 2006/42/EC of the European Parliament and of the Council. The incomplete machine may not be operated until the machine in which it is integrated has been declared compliant with the relevant provisions of the 2006/42/CE Machinery Directive. The manufacturer agrees to forward upon request of national competent 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 2018 Jean-Philippe Jobin Vice President Research and Development Robotiq Inc. 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 requirements NF EN ISO 14539 2000 Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary and presentation of characteristics NF EN ISO 9409-1 2004 2004 Manipulating industrial robots — Mechanical interfaces — Part 1: Plates Robotiq Hand-E Gripper - Instruction Manual 143 12.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq Hand-E Gripper. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products. Caution 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 NF EN ISO 14539 2000 Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary and presentation of characteristics NF EN ISO 9409-1 2004 2004 Safety of machinery — Electrical equipment of machines — Part 1: General requirements Manipulating industrial robots — Mechanical interfaces — Part 1: Plates Robotiq Hand-E Gripper - Instruction Manual
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