ROBOTIQ 2-Finger 85 User manual

© ROBOTIQ INC. 2016
Get the latest version of the manual at support.robotiq.com

Table of Contents
Robotiq inc. © 2016 2
Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Required tools and equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Environmental and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.4 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.5 Electrical setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.6 Testing the Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.7 Installation for Universal Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.8 URCaps Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.8.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.8.2 Uninstalling URCaps Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.8.3 License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.9 UR Package without URCaps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.9.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2 Gripper register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3 Robot output registers & functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Robot input registers & status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 Picking features : Force control, Re-grasp and Object detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.6 Control logic - example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.7 MODBUS RTU communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.7.1 Connection setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.7.2 Read holding registers (FC03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.7.3 Preset multiple registers (FC16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.7.4 Master read & write multiple registers FC23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.7.5 Modbus RTU example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.8 Control over Universal Robots with URCaps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.8.1 Gripper Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.8.2 Gripper Node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.9 Control over Universal Robots without URCaps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.9.1 Gripper Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.9.2 Demo Scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.9.3 Custom Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.9.4 Provided Variables and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5. User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.1 Technical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.1.1 Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Coupling for ISO 9409-1-50-4-M6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Coupling for ISO 9409-1-31.5-4-M5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Coupling for ISO 9409-1-40-4-M6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Coupling for PCD 56 with 8 x M4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Coupling for PCD 56 with 6 x M4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Coupling for PCD 60 with 4 x M5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Coupling for PCD 63 with 6 x M6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.1.2 Fingertips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Blank fingertip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Flat silicone fingertip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Grooved fingertip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6.2 Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.2.1 Center of mass and moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
6.2.2 Moments and force limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
6.3 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.1 Gripper cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.2 Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.3 Fingertip replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.4 Overhaul . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
10. Warranty & patent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
11. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
A. Harmonized standards, declarations and certificates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
A1. Translation of original EC declaration of incorporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
A2. Applied standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Robotiq 2-Finger Adaptive Gripper Instruction Manual
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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: .http://support.robotiq.com/
Revision 2016/07/04
Major revision : Updated for URcaps release
Section added :
3.8 URCaps Package
3.9 UR Package without URCaps
4.8 Control over Universal Robots with URCaps
4.9 Control over Universal Robots without URCaps
Revision 2015/09/15
Major revision : Updated for 2-Finger 140
Revision 2015/07/21
Section added :
4.5 Picking features : Force control, re-grasp and object detection.
A. Harmonized standards, declarations and certificates
Minor modifications :
Section 1. General Presentation
Section 3.7 Universal Robots package
Revision 2014/11/05
Modification for Robotiq 2-Finger 85 Adaptive Robot Gripper version 3
Revision 2014/07/22
Modification for use on Robotiq Universal Controller
Minor modifications : User Interface section, maintenance section
Revision 2013/02/06
Section added : Couplings ISO models and Baxter robots
Minor modifications
Revision 2013/02/06
Section added : Communication with UR robots
Minor modifications
Revision 2012/10/18
Official release
Revision 2012/03/02
Beta release
Copyright
© 2016 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 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 4
1. General Presentation
The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85" and "2-Finger 140" used in the following manual all
refer to the . The Robotiq 2-Finger Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will Robotiq Adaptive Robot Gripper2-Finger
change finger opening dimensions, which will be 85 mm (2-Finger 85 Adaptive Gripper) or 140 mm (2-Finger 140 Adaptive Gripper). Both versions use the
The 2-Finger Gripper is a robotic peripheral that is designed for industrial applications. Itssame base, installation and control will be exactly the same.
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
Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive Robot Gripper.
Note
The following manual uses the metric system, unless 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.

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Gripper nomenclature :
The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in Figure 1.1. The Gripper can engage up to
five points of contact with an object (two on each of the phalanges plus the palm). The fingers are under-actuated, meaning they have fewer motors than the
total number of joints. This configuration allows the fingers to automatically adapt to the shape of the object they grip and it also simplifies the control of the
Gripper.
Figure 1.1 : The 2-Finger Adaptive Robot Gripper.
See section for details on standard and optional parts.3.1 Scope of delivery
The status LED presented in Figure 1.1 will be :
solid blue/red when booting
solid blue when powered with no errors (while communication is active)
solid red if minor fault occurs, see status details in Section 4.
blinking red/blue if major fault occurs, see status details in .Section 4

Robotiq 2-Finger Adaptive Gripper Instruction Manual
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2-Finger 85 vs 2-Finger 140 :
The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140) according to Figure 1.2. the Gripper chassis will
remain the same, only the fingers will change, see for on the installation instructions. Finger kits are available in theSection 3.4 Spare Parts and
. Accessories section
Figure 1.2 : The 2-Finger 85 and 140 mm versions.
Info
Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the section.Specifications

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Object picking :
The 2-Finger Gripper has a single actuator for opening and closing the fingers, the fingers automatically adapt to the shape of the object manipulated.
Fingers will adopt either a parallel grip or encompassing grip as shown in Figure 1.3.
Figure 1.3 : 2-Finger parallel and encompassing grips.
Info
Closing or opening is done via the "Go to requested position" command and is input to the Gripper. Whether the fingers close to produce an
. It will depend on:encompassing or fingertip grip is decided at the Gripper level automatically
The part's geometry;
The relative position of the part with respect to the Gripper.
In other words, picking the same part could result in either an encompassing or a fingertip grip based on a part's position and geometry.
Note
It is important to note that a fingertip grip can only be performed when the fingers touch the object with the upper section of the distal phalanxes
first. Inversely, for an encompassing grip, the fingers must touch the object with the proximal or the lower section of the distal phalanxes first.
Also, to ensure stability, the object should be held against the Gripper palm while performing an encompassing grip. See Figure 1.4 below for a
visual representation of the parallel and encompassing grip regions on the distal phalanx of the 2-Finger Gripper.

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The 2-Finger Adaptive Robot Gripper also offers internal gripping. The fingers can pick hollow parts from the inside by
applying pressure with the outside of the fingers. See Figure 1.4 for a representation and see Section 4.5 for details on the
possible position commands of your Gripper.
Figure 1.4 : 2-Finger internal and external gripping.

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The Gripper equilibrium line is the gripping region that separates the encompassing grip from the parallel grip. When gripping an object close enough to the
inside (palm) of the Gripper, the encompassing grip will occur (unless the object size or shape is not adequate) and the fingers will close around the object.
If gripped above the equilibrium line, the same object will be picked up in a parallel grip by the fingertips and the fingers will close with a parallel motion.
Figure 1.5 shows the encompassing grip region, the equilibrium line, and the parallel grip region on the 2-Finger Adaptive Robot Gripper.
Figure 1.5 : Equilibrium line on the 2-Finger, shown with no fingertip pads.
Info
The details of the equilibrium line relation between opening angle and the related position can be found in sectiond6.2 Mechanical
.Specifications
Tip
Gripping an object that could be grasped by an encompassing grip (a cylinder for example) on the equilibrium line is not recommended, as slight
variations on the position will switch the grip from parallel to encompassing and vice versa. Robot programming should be done so that the
gripping mode will be predetermined.

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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, see
for wiring information and for control of the Gripper (various software packages are available for control via various robot controllers).Section 3.5 Section 4
Gripper Coupling is required for 2-Finger usage, the Coupling will provide mechanical and electrical connectivity. See for installation of theSection 3.4
Coupling, for tech drawings, for available couplings.Section 6.1 Section 8
The 2-Finger has an embedded object detection feature using indirect sensing methods. When picking an object via 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 ''go to'' command limit is attained. For details on object ,detection
see .Control section
Info
Robotiq Universal Controller is available when industrial communication protocols are required
(other then Modbus RTU over serial).

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2. Safety
This documentation explains the various components of the 2-Finger and general operations regarding the
whole life-cycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product.
Warning
The operator must have read and understood all of the instructions in the following manual before handling the Robotiq 2-Finger
Adaptive Robot Gripper.
The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper:
Installation
Control
Maintenance
Inspection
Calibration
Programming
Decommissioning

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2.1 Warning
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Risk assessment and final application :
The Robotiq 2-Finger Gripper is meant to be used on an industrial robot. The robot, Gripper and any other equipment used in the final application must be
evaluated with a risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are respected. Depending on the
application, there may be risks that need additional protection/safety measures, for example, the work-piece the Gripper is manipulating may be inherently
dangerous to the operator.
Note
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
The Gripper needs to be properly secured before operating the robot.
Do not install or operate a Gripper that is damaged or lacking parts.
Never supply the Gripper with an alternative current source.
Make sure all cord sets are always secured at both ends, at the Gripper and at the robot.
Always satisfy the recommended keying for electrical connections.
Be sure no one is in the robot and/or Gripper path before initializing the robot's routine.
Always satisfy the Gripper payload.
Set the Gripper pinch force and speed accordingly, based on your application.
Keep fingers and clothes away from the Gripper while the power is on.
Do not use the Gripper on people or animals.
For welding applications, make sure there are no Gripper parts on the ground path of the welding power source.

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2.2 Intended Use
The Gripper unit is designed for gripping and temporarily securing or holding parts.
The product is intended for installation on a robot or other automated machinery and equipment.
The unit may be used only 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.
Caution
The Gripper is NOT intended for applying force against objects or surfaces.
Note
Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety.

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3. Installation
The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper.
Section 3.1 details the scope of delivery for the 2-Finger, verify your package.
Section 3.2 lists the required tools, parts and equipment for proper use of your Gripper.
Section 3.3 explains the operating conditions that must be met for the 2-Finger to operate normally.
Section 3.4 guides you through the mechanical installation using the 2-Finger Coupling and other optional parts.
Section 3.5 describes the required electrical set up of the Gripper, its power source and communication wiring.
Section 3.6 .explains you how to test the Gripper via the Robotiq User Interface
Finally, Section 3.7 explains how to get and install software packages meant to control your Gripper with Universal Robots
Warning
Before installing :
Read and understand the related to the 2-Finger Adaptive Robot Gripper.safety instructions
Verify your package according to the and your order.Scope of delivery
Have the required parts, equipment and tools listed in the requirements readily available.
Warning
When installing :
Satisfy the environmental conditions.
Do not operate the Gripper, or even turn on the power supply, before it is and the .firmly anchored danger zone is cleared The fingers
of the Gripper may move and cause injury or damage.

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3.1 Scope of delivery
Robotiq 2-Finger Adaptive Robot Gripper 85 :
Standard upon delivery :
Robotiq 2-Finger 85 Adaptive Gripper complete unit: AGC-GRP-
002 85 mm opening fingers without fingertips or pads (these
are bought separately unless specified)
Palm pad
USB to RS-485 signal converter: ACC-ADT-USB-RS485
Depending on your choice :
Coupling according to your robot bolt pattern: AGC-CPL-XXX-00
2
Robotiq device cable :
CBL-COM-2065-05 for 5 meters cable
CBL-COM-2065-10 for 10 meters cable
Robotiq 2-Finger Adaptive Robot Gripper 140 :
Standard upon delivery :
Robotiq 2-Finger 140 Adaptive Gripper complete unit: AGC-GRP
-140 140 mm fingers without fingertips or pads (these are
bought separately unless specified)
Palm pad
USB to RS-485 signal converter: ACC-ADT-USB-RS485
Depending on your choice :
Coupling according to your robot bolt pattern: AGC-CPL-XXX-00
2
Robotiq device cable :
CBL-COM-2065-05 for 5 meters cable
CBL-COM-2065-10 for 10 meters cable
Info
See section for aSpare Parts, Kits and Accessories
list of available couplings.
Info
See section for aSpare Parts, Kits and Accessories
list of available couplings.
Note
The following are included in standard delivery :not
Options such as adapter plates or couplings for mounting on various industrial robots, fingertips or finger pads.
Hardware required for options; accessories or fixtures for the 2-Finger Adaptive Robot Gripper, unless specified.
Power supply units, power supply wiring or fuses.
Info
When bought as a kit, the 2-Finger 85 or 140 will come in a package with the appropriate coupling, fingertips or finger pads and cabling. See
sectionSpare Parts, Kits and Accessories

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3.2 Required tools and equipment
The following tools are required to install the 2-Finger Adaptive Robot Gripper :
4 mm hex key to mount the Gripper onto its coupling.
Metric hex key according to your coupling to mount the coupling onto the robot.
Optional tools if installing finger kits : or :AGC-FIN-KIT-085 AGC-FIN-KIT-140
5 - 6 mm snap ring pliers
2 mm hex key
The following parts are required for setup :
Power supply (see below).
Fuse, see information below.
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 1 A
Overcurrent Recommended power supply with internal protection, otherwise fusing is required.
2 A fuse at 25°C [77 F]
o 1
Table 3.2.1 : 2-Finger power supply requirements.
Robotiq recommends the use of the following power supplies :
For the 1A output current: TDK-Lambda DPP Series, :100W Single Output DIN Rail Mount Power Supply DPP30-24.
Info
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.
Tip
Optional Robotiq Universal Controller can used the same power supply.

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3.3 Environmental and operating conditions
The Gripper is designed for industrial applications. Always respect the following specified storage and operating environmental 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
Others Free from dust, soot or water
Free from corrosive liquids or gases
Free from explosive liquids or gases
Free from powerful electromagnetic interference
Table 3.3.1 : Environmental and operating conditions of the 2-Finger.

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1.
2. a.
3.
3.4 Mechanical installation
Installing fingers on the Gripper :
Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers.
View Figure 3.4.2 for finger placement. To do so :
Align fingers on chassis axes. To do so, the slot present on the finger bar must be aligned correctly to the corresponding chassis axis.
Insert finger shaft between finger bar bottom hole (top hole is for parallel locking) and corresponding chassis hole.
Fix in place by inserting snap rings on both sides of the shaft using snap ring pliers.
Apply medium strength thread-locker to the provided stainless steel shoulder screws, align the finger bar and screw into the chassis axis.
Figure 3.4.1 : 2-Finger Adaptive Gripper finger installation.
Note
Use protective glasses when using snap ring and snap ring pliers.

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1.
2.
Installing the fingertips or finger pads on the Gripper :
Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so :
Align the fingertip indexing pin to the fingertip dowel hole.
Insert the two M3-0.5 x 8 low head cap screws and screw on after applying medium strength thread-locker.
Figure 3.4.2 : Installing the fingertip (pads) onto the Gripper

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1.
2.
3.
Installing the Gripper onto the robot :
You must use a coupling to attach the Gripper to the robot. Be sure to use the coupling related to your robot model. If there is no coupling for your robot, you
can modify 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 or adapter plate you can refer to the . To see the details of the available couplings and adapter plates see the Coupling section Spare Parts, Kits
.and Accessories section
Here are the steps to follow to mount the Gripper to your robot (exploded view in Figure 3.4.3 below). Note that all screws must be locked in place using
medium strength thread-locker.
Screw the adapter plate or the coupling to the robot.
Screw the coupling to the adapter plate (if adapter plate is required).
Screw the Gripper onto it's coupling.
Figure 3.4.3 : Installing the Gripper to a robot using an adapter plate and coupling.