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
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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.
6

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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2F-85& 2F-140-Instruction Manual
The2-FingerAdaptiveRobot Gripperalso allowsfor internal grasping.The fingers can pickhollowobjectsfrom the inside byapplying
pressurewiththeoutsideof thefingers.Referto thefigurebelowforavisual representation and to thePicking Featuressectionfor
detailsonthepossiblepositioncommandsof yourGripper.
Fig.1-4:Fingerinternal and external grasping.
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2F-85& 2F-140-Instruction Manual
TheGripperequilibrium lineisthegrasping regionthat separatestheencompassing grasp from theparallel grip.When grasping an
object closeenoughto theinside(palm)of theGripper,theencompassing grasp will occur(unlesstheobject sizeorshapeisnot
adequate)and thefingerswill closearound the object.
If grasped abovetheequilibrium line,thesameobject will bepicked up in aparallel grasp bythefingertipsand thefingerswill close
withaparallel motion.Thefigurebelowshowstheencompassing grasp region,theequilibriumline,and theparallelgrasp regionon
the 2-FingerAdaptiveRobot Gripper.
Info
Thedetailsof theequilibrium linerelation betweenopening angle and therelated position d can be found intheMechanical
specificationssection.
Fig.1-5:Equilibrium lineon the 2-Finger,shown with no fingertip pads.
Tip
Grasping an object that could be grasped byanencompassing grasp (a cylinder for example)on theequilibrium lineis not
recommended,asslight variationson theposition will switchthegrasp from parallel to encompassing and viceversa.Robot
programming should bedoneso that thegrasping modewill bepredetermined.
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2F-85& 2F-140-Instruction Manual
1.4.Setup and control
TheGripperispowered and controlled directlyviaasingleDeviceCablethat carriesa24VDCsupplyand ModbusRTU
communication overRS-485,seeSection 3.5for wiring information and Section 4for control of theGripper(varioussoftwarepackages
areavailablefor control viavariousrobot controllers).
Info
Robotiq Universal Controllerisavailable whenindustrial communication protocolsare required (otherthen ModbusRTU
overserial).
GripperCoupling isrequired for 2-Fingerusage,theCoupling will providemechanical and electrical connectivity.Pleasereferto the
MechanicalInstallationsection forinstallationof theCoupling,to theSpecificationssection for technical drawings,and to theSpare
Parts,Kitsand Accessoriessection foravailablecouplings.
The2-Fingerhasanembedded object detection feature using indirect sensing methods.Whenpicking anobject viathe"go to"
command,theGripperstatuswill allowyouto knowif anobject ispicked ornot viaa simpleobject detectionbit (0or1).Whenan
object isdetected,theGripperwill stop.If theobject isbeing dropped,theGripperwill automaticallycloseto keep theobject until the
''go to'' command limit isattained.For detailson object detection,seeControl section.
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2.Safety
Warning
Theoperator must have read and understood all of theinstructionsinthefollowing manual beforehandling theRobotiq
2-FingerAdaptiveRobot Gripper.
Caution
Theterm "operator" refersto anyoneresponsible for anyof thefollowing operationson the2-FingerAdaptiveRobot
Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
Thisdocumentation explainsthevariouscomponentsof the2-Fingerand general operationsregarding thewholelife-cycle of the
product from installation to operation and decommissioning.
Thedrawingsand photosinthisdocumentation arerepresentative examplesand differencesmayexist betweenthem and thedelivered
product.
2F-85& 2F-140-Instruction Manual
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2F-85& 2F-140-Instruction Manual
2.1.Warning
Caution
Anyuseof theGripperinnoncomplianceof these warningsisinappropriateand maycauseinjuryordamage.
Warning
lTheGripperneedsto beproperlysecured beforeoperating therobot.
lDo not install oroperate aGripperthat isdamaged orlacking parts.
lNeversupplytheGripperwith analternativecurrent source.
lMakesure all cord setsarealwayssecured at bothends,at theGripperand at therobot.
lAlwayssatisfytherecommended keying for electrical connections.
lBesure no oneisintherobot and/or Gripperpathbeforeinitializing therobot'sroutine.
lAlwayssatisfytheGripperpayload.
lSet theGripperpinchforceand speed accordingly,based onyourapplication.
lKeep fingersand clothesawayfrom theGripperwhile thepoweris on.
lDo not use theGripperon peopleoranimals.
lForwelding applications,make surethereare no Gripperpartsontheground pathof thewelding powersource.
2.1.1.Riskassessment andfinalapplication:
TheRobotiq 2-FingerAdaptiveGripperismeant to beused onanindustrial robot.Therobot,Gripperand anyotherequipment used
inthefinal application must beevaluated witha riskassessment.It istherobot integrator'sdutyto ensure that all local safetymeasures
and regulationsarerespected.Depending ontheapplication,theremayberisksthat need additional protection/safetymeasures,for
example,thework-piecetheGripperismanipulating maybeinherentlydangerousto theoperator.
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2F-85& 2F-140-Instruction Manual
2.2.Intended Use
TheGripperunit isdesigned forgrasping and temporarilysecuring orholding objects.
Caution
TheGripperisNOT intended for applying force against objectsor surfaces.
Theproduct isintended forinstallationonarobot orotherautomated machineryand equipment.
Info
Alwayscomplywithlocal and/ornational laws,regulationsand directivesonautomationsafetyand general machinesafety.
Theunit maybeused onlywithintherangeof itstechnical data.Anyotheruseof theproduct isdeemed improperand unintended use.
Robotiq will not be liable for anydamagesresulting from anyimproperor unintended use.
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3.Installation
Thefollowing subsectionswill guideyou through theinstallation and general setup of yourRobotiq 2-FingerAdaptiveRobot Gripper.
lTheScope ofDeliverysection
lTheRequired Toolsand Equipment section
lTheEnvironmentaland Operating Conditionssection
lTheMechanicalInstallationsection
lTheElectricalSetup section
Warning
Beforeinstalling:
lRead and understand thesafetyinstructionsrelated to the2-FingerAdaptiveRobot Gripper.
lVerifyyourpackageaccording to theScopeof deliveryand yourorder.
lHavetherequired parts,equipment and toolslisted in therequirementsreadilyavailable
Warning
Wheninstalling:
lSatisfytheenvironmental conditions.
lDo not operatetheGripper,oreventurn on thepowersupply,beforeit isfirmlyanchored and thedangerzoneiscleared.
Thefingersof theGrippermaymoveand causeinjuryordamage.
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2F-85& 2F-140-Instruction Manual
3.1.Scope of Delivery
3.1.1.TM Kit
Robotiq 2F-85 Adaptive Gripper Robotiq 2F-140 Adaptive Gripper
l1x2F-85BasicGripperUnit (withFlat SiliconeFingers)
l1xEnd EffectorCoupling forBolt Pattern
ISO 9409-1-50-4-M6 (with 1m Pigtail Cable)
l1 x10m Robotiq DeviceCable
l1xRS485to RS232 Converter
l1xScrewKit for Fixing End EffectorCoupling onTM
Robots
l1xRS485to USB Converter(fortroubleshooting orSlave
AddressID ChangeonaPC)
l1x2F-140BasicGripperUnit (withFlat SiliconeFingers)
l1xEnd EffectorCoupling forBolt Pattern
ISO 9409-1-50-4-M6 (with 1m Pigtail Cable)
l1 x10m Robotiq DeviceCable
l1xRS485to RS232 Converter
l1xScrewKit for Fixing End EffectorCoupling onTM
Robots
l1xRS485to USB Converter(fortroubleshooting orSlave
AddressID ChangeonaPC)
3.2.Required Toolsand Equipment
Thefollowing toolsare required to install the2-FingerAdaptiveGripper:
l4 mm hexkeyto mount the Gripperonto its coupling.
lMetrichexkeyaccording to yourcoupling to mount thecoupling onto therobot.
Optional toolsif installing fingerkits:AGC-FIN-KIT-085orAGC-FIN-KIT-140:
l2 mm hexkey
Optional toolsif installing otherfingertips:AGC-TIP-204-085,AGC-TIP-205-085,AGC-TIP-420-140,AGC-TIP-420-140
l4 mm hexkey
Thefollowing partsarerequired forsetup :
lPowersupply(seebelow).
lFuse(if applicable),seeinformationbelow.
lEmergencystop isnot provided,but itsuseisstronglyadvised.
TheGripperneedsto besupplied bya DCvoltagesource.Thispowersupplyisnot included withtheGripper.Required powersupply
must matchtheRobotiq device.Thefollowing tableshowsthespecificationswith regardsto thepowersupplyrequired to operatethe
Gripperand theoptional Robotiq Controller.
SPECIFICATION VALUE
Output voltage 24VDC±10%
Output current 1A
Overcurrent Recommended powersupplywithinternal protection,otherwisefusing is
required.
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2F-85& 2F-140-Instruction Manual
SPECIFICATION VALUE
2A fuseat 25°C[77°F]1
Table3-1:2-Fingerpowersupplyrequirements.
Info
1Suggested fuseisa:PhoenixContact # 09166052 A thermal,use AWG #20wiring.
Warning
If yourpowersupplycould exceed thespecified regulation,over-voltageprotectionisrequired.
Robotiq recommendstheuseof thefollowing powersupplies:
Tip
Optional Robotiq Universal Controllercanuse thesamepowersupply.
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 IP40
Other
lFreefrom dust,soot or fluids
lFreefrom corrosive liquids orgases
lFreefrom explosive liquidsor gases
lFreefrom powerful electromagneticinter-
ference
Table3-2:Environmental and operating conditionsof the2-FingerAdaptiveGripper
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2F-85& 2F-140-Instruction Manual
3.4.Mechanical Installation
3.4.1.InstallingfingersontheGripper
Depending on yourorder,youmayormaynot havefingersalreadymounted on theGripper.Thefirst step of installationshould beto
install thefingers.Referto thefigurebelowfor fingerplacement.To do so :
1. Align fingerswithchassisaxes.To do so,theslot onthefingerbarshould be aligned correctlywiththecorresponding chassis
axis.
2. Insert thefingershaft in thefingerbarbracket hole and through thechassisaxis(top hole isfor parallel locking while bottom hole
isforfingerinstallation)..
3. Applymedium strength threadlockeron the provided screws,alignthefingerbarand fastento the chassis/chassisaxis.
Fig.3-1:2-FingerAdaptiveGripperinstallation.
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