Lean ROBOTIQ HAND-E Operation and maintenance manual

Robotiq Hand-E
for Hanwha Robots
InstructionManual robotiq.com | leanrobotics.org
Original Notice
© 2019.Robotiq,Inc.

Robotiq Hand-EGripperInstruction Manual
Revisions 5
1. General Presentation 7
1.1. Grippernomenclature 8
1.2. Object picking 10
1.3. Setup and control 11
2. Safety 12
2.1. Warning 12
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.1.1. Robotiq Hand-EGripper HanwhaKit 15
3.2. RequiredToolsand Equipment 16
3.3. Environmentaland Operating Conditions 17
3.4. MechanicalInstallation 18
3.4.1. Installing the fingers/fingertips/holderson the Gripper 18
3.4.2. Installing the Gripper onto the robot 20
SingleGripper 20
3.5. ElectricalSetup 21
3.5.1. Pinout Interface 21
3.5.2. Coupling to controller 21
SingleGripper 24
3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 24
3.7. InstallationforHanwha Robots 27
3.7.1. Installing the plugin 27
3.7.2. Uninstalling the plugin 28
4. Control 29
4.1. Overview 29
4.2. GripperRegisterMapping 31
4.3. Robot Output Registers& Functionalities 32
4.4. RobotInput Registers& Status 35
4.5. Picking Features 38
4.5.1. Force control 38
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Robotiq Hand-EGripperInstructionManual
4.5.2. Re-Grasp 39
4.5.3. Object detection 40
4.5.4. Brake engagement 40
4.6. ControlLogicExample 41
4.7. ModbusRTU Communication 42
4.7.1. Connection Setup 43
4.7.2. Read holding registers(FC03) 44
4.7.3. Read input registers(FC04) 45
4.7.4. Preset multiple registers(FC16) 46
4.7.5. Master read & write multiple registersFC23 47
4.7.6. Modbus RTU example 49
4.8. ControlOverHanwha Using the Plugin 58
4.8.1. Gripper Dashboard 58
5. UserInterface 62
6. Specifications 63
6.1. Technicaldimensions 64
6.1.1. Couplings 65
6.1.2. Fingersand fingertips 67
Rack 67
Flat Rubber(NBR) Overmolded Fingers 68
Fingertip holders 68
Flat aluminum finger 69
Grooved fingertips 69
6.2. Mechanicalspecifications 70
6.2.1. Specifications 70
Payload and force 71
Maximum payload/External force vs. Custom fingerdesign 72
Frictiongrasp and form-fit grasp 73
Maximum payload bygrasp type 73
6.2.2. Center of massand tool center point 74
6.2.3. Moment and force limits 76
6.3. Electricalspecifications 77
7. Maintenance 78
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Robotiq Hand-EGripperInstructionManual
7.1. Grippercleaning 79
7.2. Periodicinspection 81
7.3. Rack& pinionmechanism cleaning 82
8. Spare Parts, Kitsand Accessories 83
9. Troubleshooting 85
10. Warrantyand Patent 86
11. Contact 87
12. Harmonized Standards, Declarationsand Certificates 88
12.1. Translationof originalECdeclarationof incorporation 88
12.2. Appliedstandards 89
12.3. IngressProtectionCertificate 90
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Robotiq Hand-EGripperInstructionManual
Revisions
Robotiq maymodifythisproduct without notice,whennecessary,due to product improvements,modificationsorchangesin
specifications.If such modification ismade,themanual will also be revised,seerevisioninformation.See thelatest version of this
manual onlineat support.robotiq.com.
Revision2019/05/17
lFirst publicationof the InstructionManual.
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Robotiq Hand-EGripperInstructionManual
Copyright
© 2019 Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and therefore maynot bereproduced inwhole or inpart,whether for saleor not,without prior written consent from Robotiq.
Undercopyright law,copying includestranslation into anotherlanguage orformat.
Information provided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by
Robotiq for itsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeen modified afterthe
editiondate.
Theinformation contained inthisdocument issubject to changewithout notice.
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1.General Presentation
Theterms"Gripper","Robotiq Gripper","Hand-EGripper" and "Hand-E" used inthismanual areused interchangeablyto designate
the"Robotiq Hand-EGripper".TheRobotiq Hand-EGripperisaroboticperipheral designed forindustrial applications.It isaunique
roboticend-of-arm tool designed to quicklypick,placeand handle partsinabroad rangeof sizesand shapes.
Note
Thismanual usesthemetricsystem.Unlessotherwise specified,alldimensionsareinmillimeters.
Note
Thefollowing sectionpresentsthe keyfeaturesof theGripperand must not beconsidered asappropriateto Gripper
operation,each featureisdetailed intheappropriatesectionof theManual.Safetyguidelinesmust beread and understood
beforeanyoperationisattempted withthe Gripper.
Robotiq Hand-EGripperInstructionManual
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Robotiq Hand-EGripperInstructionManual
1.1.Grippernomenclature
The Hand-EGripperisaparallel gripper.Itstwo fingersareactuated byasinglemotor.
Fig.1-1:Robotiq Hand-Egripper.
Please referto the Scopeof Deliverysectionand Spare Parts,Kitsand Accessoriessection fordetailson standard and optional parts.
The Hand-Ebasicgripperunit includes flat aluminum fingersovermolded with NBR, asshown inFigure1.1:Robotiq Hand-Egripper.
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Robotiq Hand-EGripperInstructionManual
Theusercaninstallfingersdirectlyontheracks,or fastenfingertipsto fingertip holders,whicharein turninstalled on the racks.Referto
theInstalling the Gripperonto the robotsection formore informationonhowto integrate custom fingersand fingertipsto Hand-E.
Fig.1-2:Mounting a fingeron arack.
Whenordered asakit (pleasereferto theScopeofDeliverysection),afingertip starting kit isincluded (pleasereferto theSpare Parts,
Kitsand Accessoriessection).These fingertipsshould bemounted onto fingertip holders.
Fig.1-3:Mounting a fingertip onafingertip holder(example).
Tip
Youcancustomizefingersand fingertips.Mount custom fingersonracks,and fingertipsonfingertip holders.
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Robotiq Hand-EGripperInstructionManual
1.2.Object picking
The Hand-EGripperhasasingleactuatorfor opening and closing thefingers.It also allowsinternal gripping.Thefingerscanpick
hollowpartsfrom theinside byapplying pressure with the outer surface of the fingers.
Seethefigure belowforarepresentationand referto the Picking Featuressection fordetailson avaiblepositioncommandsfor your
gripper.
Fig.1-4:Hand-EGripperinternal and external gripping.
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Robotiq Hand-EGripperInstructionManual
1.3.Setup and control
TheGripperispowered and controlled directlyvia asingle devicecablethat carriesa24VDCsupplyand ModbusRTUcommunication
overRS-485.Please referto theElectrical Setup sectionfor wiring informationand to theControlsection forcontrol of theGripper
(softwarepackagesareavailableforcontrol viasometypesof robot controllers).
Info
Robotiq Universal Controller isavailable whenindustrial communicationprotocolsarerequired (other thenModbusRTU
overserial).
A grippercoupling isrequired forusing Hand-E;the coupling will provide mechanicaland electrical connectivity.Pleasereferto the
MechanicalInstallationsection forinstallationof thecoupling,to theTechnicaldimensionssection for technical drawings,and to the
Spare Parts,Kitsand Accessoriessection foravailablecouplings.
TheHand-EGripperhasanembedded object detectionfeature using indirect sensing methods.Whenpicking anobject withthe"go
to" command,theGripperstatuswill allowyouto knowif an object ispicked ornot viaasimpleobject detection bit (0or1).Whenan
object isdetected,theGripperwill stop.If theobject isbeing dropped,the Gripperwill automaticallyclose to keep theobject until the
object isdetected oruntil thepositiontarget from the"go to command" isreached.Fordetailson object detection,pleasereferto the
Controlsection.
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2.Safety
Warning
The operatormust haveread and understood all of theinstructionsinthefollowing manual beforehandling the Robotiq
Hand-EGripper.
Info
The term "operator" refersto anyone responsiblefor anyof the following operationson the RobotiqHand-EGripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
Thisdocumentationexplainsthevariouscomponentsof theRobotiq Hand-EGripperand general operationsregarding the whole
lifecycle of theproduct from installation to operation and decommissioning.
Thedrawingsand photosinthisdocumentation arerepresentativeexamples;nonetheless,discrepanciesmaybeobserved between
thoseand thedelivered product.
2.1.Warning
Info
Anyuseof theGripperinnoncomplianceof thesewarningsisinappropriateand maycause injuryordamage.
Warning
lTheGripperneedsto be properlysecured beforeoperating therobot.
lDo not install oroperate aGripperthat isdamaged or lacking parts.
lNeversupplytheGripperwithanalternativecurrent source.
lMakesureall cord setsarealwayssecured at bothends,at the Gripperand at therobot.
lAlwaysmeet therecommended keying forelectrical connections.
lMakesureno oneisintherobot and/orGripperpathbeforeinitializing therobot'sroutine.
lAlwaysmeet theGripper'spayload specifications.
lSet theGripper'spinchforce and speed accordingly,based on yourapplication.
lKeep fingersand clothesaway from the Gripper whilethepowerison.
Robotiq Hand-EGripperInstructionManual
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Robotiq Hand-EGripperInstructionManual
lDo not usetheGripperonpeople or animals.
lForwelding applications,makesurethereareno Gripperpartsontheground pathof thewelding powersource.
Riskassessment and final application:
TheRobotiq Hand-EGripperismeant to beused onanindustrial robot.Therobot,theGripperand anyotherequipment used inthe
final applicationmust be evaluated via athorough riskassessment.It isthe robot integrator'sdutyto ensurethat all local safety
measuresand regulationsaremet.Depending on the application,there mayberisksthat require additional protection/safety
measures;forexample,thework-piecetheGripperismanipulating might be inherentlydangerousto theoperator.
2.2.Intended Use
TheGripperunit isdesigned for gripping and temporarilysecuring orholding objects.
Caution
TheGripperisnot intended forapplying forceagainst objectsorsurfaces.
Theproduct isintended forinstallationonarobot orotherautomated machineryand equipment.
Info
Alwayscomplywithlocal and/ornational laws,regulationsand directivesonautomationsafetyand general machinesafety.
Theunit should beused exclusivelywithintherangeof itstechnicaldata.Anyotheruse of theproduct isdeemed improperand
unintended use.Robotiq will not beliableforanydamagesresulting from anyimproperorunintended use.
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3. Installation
The following subsectionswill guide youthroughtheinstallation and general setup of yourRobotiqHand-EGripper.
Warning
Beforeinstalling:
lRead and understand thesafetyinstructionsrelated to theHand-EGripper.
lVerifyyourpackageaccording to thescopeof deliveryand yourorder.
lHavetherequired parts,equipment and toolslisted intherequirementsreadilyavailable.
Warning
Wheninstalling:
lMeet therecommended environmental conditions.
lDo not operatethegripper,or eventurnonthepowersupply,beforeit isfirmlyanchored and thedangerzoneiscleared.
Thefingersof thegrippermaymove and cause injuryordamage.
Robotiq Hand-EGripperInstructionManual
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Robotiq Hand-EGripperInstructionManual
3.1.Scope of Delivery
3.1.1.RobotiqHand-EGripperHanwha Kit
Standard upon delivery
lRobotiqHand-Ebasicgripperunit:HND-GRP-001
lHand-Egripper
lHand-ENBR overmolded aluminum fingerskit
lScrewkit
lUSB to RS485signal converter: ACC-ADT-USB-RS485
lCoupling forconnectionto therobot controller: GRP-CPL-062
lWrist connection protector
Info
Please referto the Spare Parts,Kitsand Accessoriessectionforalist of availablecouplings.
lRobotiq device cable:CBL-COM-1065-10-HF
Caution
Thefollowing isnot included aspart of astandard delivery:
lOptionssuch asadapter platesorcouplingsfor mounting onvariousindustrial robots,fingertipsorfingerpads.
lHardwarerequired foroptions;accessoriesorfixturesfortheHand-EGripper,unlessspecified.
lPowersupplyunits,powersupplywiring or fuses.
Info
Whenbought asakit,the Hand-EGripperwill comeinapackage with the appropriatecoupling,fingers/fingertipsand
cabling.Pleasereferto theSpare Parts,Kitsand Accessoriessection.
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Robotiq Hand-EGripperInstructionManual
3.2.Required Toolsand Equipment
The following toolsare required to install theHand-EGripper:
l4 mm hexkeyto mount the Gripperonto itscoupling.
lMetrichexkeyaccording to yourcoupling to mount thecoupling onto therobot.
Optional toolsif installing fingertip/holderkits:HND-FIN-ALU-KIT,HND-TIP-RUB-KIT,HND-TIP-VGR-KIT,HND-TIP-HLD-KIT
l2,5 mm hexkey
Thefollowing partsarerequired forsetup :
lPowersupply(seebelow).
lFuse,seeinformationbelow.
lEmergencystop isnot provided,but itsuseisstronglyadvised.
Thegripperneedsto besupplied byaDCvoltagesource.Thispowersupplyisnot included withthegripper.Required powersupply
must matchthe Robotiqdevice.Thefollowing tableshowsthespecificationswithregardsto thepowersupplyrequired to operate the
gripperand theoptional RobotiqController.
SPECIFICATION VALUE
Output voltage 24VDC±10%
Output current 1A
Overcurrent Recommended powersupplywith internal protection,otherwise fusing is
required.
2A fuseat 25°C[77°F]1
Table3-1:Hand-Epowersupplyrequirements.
1Suggested fuseisa:PhoenixContact # 09166052A thermal,use AWG #20wiring.
Warning
If yourpowersupplycould exceed thespecified regulation,over-voltage protection isrequired.
Robotiq recommendsthe useof thefollowing powersupplies:
lForthe1A output current:TDK-LambdaDPPSeries,100W SingleOutput DIN Rail Mount PowerSupply:DPP30-24.
Tip
Optional Robotiq Universal Controllercanuse thesamepowersupply.
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Robotiq Hand-EGripperInstructionManual
3.3.Environmental and OperatingConditions
CONDITION VALUE
Minimum storage/transit
temperature -30°C[-22°F]
Maximum storage/transit
temperature 70°C[158°F]
Minimum operating
temperature -10°C[14°F]
Maximum operating
temperature 50°C[122°F]
Humidity(non-condensing) 20-80%RH
Maximum vibration
(storage/transit) 5G
Maximum vibration (operating) 2G
IPRating IP67
Table3-2:Environmental and operating conditionsof theHand-EGripper.
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Robotiq Hand-EGripperInstructionManual
3.4.Mechanical Installation
3.4.1.Installingthefingers/fingertips/holdersonthe Gripper
The figuresbelowlist thematerial and toolsneeded to mount fingersor fingertips/holdersonto theracksof theHand-EGripper.
Fig.3-1:Mounting thefingerson theracks
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Robotiq Hand-EGripperInstructionManual
Fig.3-2:Mounting fingertipsonholders(and thenontheracks)
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Robotiq Hand-EGripperInstructionManual
3.4.2.InstallingtheGripperontothe robot
Single Gripper
Herearethestepsto followto mount theGripperto yourrobot (seefigurebelow).Note that allscrewsmust belocked inplaceusing
mediumstrengththreadlocker.
1. Screwthecoupling to the robot.
2. ScrewtheGripperonto itscoupling.
Fig.3-3:Installing the Gripperonto the robot wrist
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