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
2

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
3

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
4

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.
5

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.
6

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
7

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.
8

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.
9

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.
10