ROBOTIQ 2F-85 Operation and maintenance manual

Robotiq 2F-85& 2F-140
for TM Robots
InstructionManual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

Tableof Contents
Revisions 5
1. GeneralPresentation 7
1.1. Grippernomenclature 8
1.2. 2F-85vs. 2F-140 9
1.3. Object picking 10
1.4. Setupandcontrol 13
2. Safety 14
2.1. Warning 15
2.1.1. Risk assessment and final application: 15
2.2. Intended Use 16
3. Installation 17
3.1. Scope of Delivery 18
3.1.1. TM Kit 18
3.2. RequiredToolsandEquipment 18
3.3. Environmentaland OperatingConditions 19
3.4. MechanicalInstallation 20
3.4.1. Installing fingerson the Gripper 20
3.4.2. Installing the fingertipson the Gripper 21
3.4.3. Installing aProtector Kit on the Gripper Fingers 22
3.4.4. Installing the Gripper onto the robot 22
SingleGripper 22
Multiple Grippers 23
3.5. ElectricalSetup 24
3.5.1. Pinout Interface 26
3.5.2. Coupling to controller 26
SingleGripper 28
Multiple Grippers 28
4. Control 30
4.1. Overview 30
4.2. GripperRegisterMapping 32
2F-85& 2F-140-Instruction Manual
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2F-85& 2F-140-Instruction Manual
4.3.RobotOutputRegisters& Functionalities 33
4.4.RobotInputRegisters& Status 36
4.5. PickingFeatures 39
4.5.1. Force control 39
4.5.2. Re-Grasp 44
4.5.3. Object detection 45
4.6. ControlLogic 46
4.7.ModbusRTU Communication 47
4.7.1. Connection Setup 48
4.7.2. Read holding registers(FC03) 49
4.7.3. Read input registers(FC04) 50
4.7.4. Preset multiple registers(FC16) 51
4.7.5. Master read & write multiple registersFC23 52
4.7.6. Modbus RTU example 54
4.8. ControloverTM 63
4.8.1. TM RobotsCompatibilitywith Robotiq Grippers 63
4.8.2. Getting Started 63
4.8.3. TM Gripper Components 67
Installation 67
GripperButton 74
Programming 76
SET Component 76
GRIP Component 78
RELEASE Component 79
CHANGEGRIPPER Component 81
Changing theModbus Slave ID 83
5. UserInterface 85
6. Specifications 86
6.1. Technicaldimensions 87
6.1.1. Couplings 91
Blankcoupling 91
Coupling forISO 9409-1-50-4-M6 92
Coupling forISO 9409-1-31.5-4-M5 93
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2F-85& 2F-140-Instruction Manual
Coupling forISO 9409-1-40-4-M6 94
Coupling forPCD 56with8 xM4 95
Coupling forPCD 56with6 xM4 96
Coupling forPCD 60with4 xM5 97
Coupling forPCD 63with6 xM6 98
6.1.2. Fingertips 99
Flat siliconefingertip 100
Grooved fingertip 101
6.2. Mechanicalspecifications 102
6.2.1. Payload and force 103
Frictiongrasp and form-fit grasp 105
Maximum payload bygrasp type 105
6.2.2. Equilibrium Line 106
6.2.3. Center of mass, tool center point and moment of inertia 107
6.2.4. Moment and force limits 109
6.3. Electricalspecifications 110
7. Maintenance 111
7.1. Grippercleaning 112
7.2. Periodicinspection 114
7.3. Fingertip replacement 115
7.4. Overhaul 116
8. Spare Parts, Kitsand Accessories 117
9. Troubleshooting 120
10. Warrantyand Patent 121
11. Contact 124
12. Harmonized Standards, Declarationsand Certificates 125
12.1. Translationof originalEC declarationof incorporation 125
12.2. Applied standards 126
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2F-85& 2F-140-Instruction Manual
Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin
specifications.If such modification ismade,themanual will also be revised,seerevision information.Seethelatest versionof this
manual onlineat support.robotiq.com.
Revision2019/05/03
Updated environmental and operating conditions(Section 3.3)
Revision2019/03/13
Updated mechanical specifications(section 6.2)
Revision2018/12/06
First Publication of InstructionManual
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2F-85& 2F-140-Instruction Manual
Copyright
© 2019Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and thereforemaynot be reproduced in whole or inpart,whetherfor saleor not,without prior written consent from Robotiq.
Undercopyright law,copying includestranslation into anotherlanguageorformat.
Information provided byRobotiq inthisdocument isbelieved to beaccurate and reliable.However,no responsibilityisassumed by
Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe
editiondate.
Theinformationcontained inthisdocument issubject to changewithout notice.
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1.General Presentation
Theterms"Gripper","AdaptiveGripper","Robotiq Gripper","Robotiq AdaptiveGripper","2-Finger85","2-Finger140","2F-85"
and "2F-140" used inthefollowing manual all referto theRobotiq 2-FingerAdaptiveRobot Gripper.The Robotiq 2-FingerAdaptive
Gripperhastwo versions,85and 140.The2-Fingerversionwill change fingeropening dimensions,whichwill be85mm (2F-85)or
140 mm (2F-140).Bothversionsuse thesamebase,installationand control will beexactlythesame.The2-FingerGripperisarobotic
peripheral that is designed for industrial applications.Its design makesit auniqueroboticend-of-arm tool to quicklypick,place and
handlealargerangeof objectsof varying sizesand shapes.
Info
Unlessspecified,information in thismanual appliesto boththe 85 and the140 mm version of the2-FingerAdaptive Robot
Gripper.
Info
Thefollowing manual usesthemetricsystem,unlessspecified,alldimensionsare inmillimeters.
Info
Thefollowing section presentsthekeyfeaturesof thegrasp-typegripperand must not beconsidered asappropriate to the
gripperoperation,eachfeatureisdetailed in theappropriatesectionof themanual.Safetyguidelinesmust beread and
understood beforeanyoperation isattempted withthe grasp-typegripper.
2F-85& 2F-140-Instruction Manual
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2F-85& 2F-140-Instruction Manual
1.1.Grippernomenclature
The2-FingerGripperhastwo articulated fingersthat eachhave two joints(two phalanxesperfinger),asshown inthefigurebelow.The
grasp-typegrippercanengageup to fivepointsof contact withanobject (two on eachof thephalangesplusthepalm).Thefingersare
under-actuated,meaning theyhave fewermotorsthanthetotal numberof joints.Thisconfigurationallowsthefingersto automatically
adapt to theshapeof theobject theygrasp and it also simplifiesthecontrol of thegrasp-typegripper.
Fig.1-1:Robotiq 2-FingerAdaptiveGripper.
Pleasereferto theSpare Parts,Kitsand Accessoriessection for detailson standard and optional parts.
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2F-85& 2F-140-Instruction Manual
1.2.2F-85vs.2F-140
The2-FingerGrippercomeswith either85mm opening (2-Finger85)or 140mm opening (2-Finger140)according to thefigure below.
Thechassiswill remainthesame,onlythefingerswill change.Pleasereferto theMechanicalInstallationsection forinstallation
instructions.FingerkitsareavailableintheSparePartsand Accessoriessection.
Info
Detailsonthe2-Finger85and 2-Finger140(dimensionsand specifications)canbefound intheSpecificationssection.
Fig.1-2:The2-Finger85and 140 mm versions.
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2F-85& 2F-140-Instruction Manual
1.3.Object picking
The2-FingerGripperhasasingle actuatorfor opening and closing thefingers,thefingersautomaticallyadapt to theshapeof the
object manipulated.
Fingerswill adopt eitheraparallel grasp orencompassing grasp asshown inthefigurebelow.
Info
Closing oropening isdoneviathe"Go to requested position" command and isinput to theGripperWhetherthe fingers
close to produce anemcompassing orfingertip grasp isdecided at the Gripperlevelautomatically.It will depend on:
lTheobjects'sgeometry;
lTherelativepositionof theobject with respect to theGripper.
In otherwords,picking thesameobject could result ineither anemcompassing orfingertip grasp based onanobject's
positionand geometry.
Fig.1-3:2-Fingerparallel and encompassing grips.
Info
It isimportant to notethat a fingertip grasp canonlybeperformed whenthefingerstouchtheobject with theuppersection
of thedistal phalanxesfirst.Inversely,for anencompassing grip,thefingersmust touch theobject withtheproximal or the
lowersection of thedistal phalanxes first. Also,to ensure stability,theobject should be held against theGripperpalm while
performing anencompassing grip.Referto thefigure belowfor avisual representation of theparallel and encompassing
grasp regionsonthedistal phalanxof the2-FingerGripper.
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