ROBOTIQ 2F-85 User manual

Robotiq 2F-85 & 2F-140
for Cobots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2021 Robotiq Inc.

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Table of Contents
1. General Presentation 6
1.1. Gripper nomenclature 7
1.2. 2F-85 vs. 2F-140 8
1.3. Object picking 9
1.4. Setup and control 12
2. Safety 13
2.1. Warning 14
2.2. Intended Use 14
3. Installation 15
3.1. Scope of Delivery 16
3.2. Required Tools and Equipment 17
3.3. Environmental and Operating Conditions 19
3.4. Mechanical Installation 19
3.5. Electrical Setup 25
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 28
4. Control 29
4.1. Overview 29
4.2. Gripper Register Mapping 31
4.3. Robot Output Registers &Functionalities 32
4.4. Robot Input Registers &Status 36
4.5. Picking Features 40
4.6. Control Logic Example 47
4.7. Modbus RTUCommunication 48
5. Specifications 63
5.1. Technical dimensions 64
5.2. Mechanical specifications 78
5.3. Electrical specifications 84
6. Maintenance 85
6.1. Gripper cleaning 87
6.2. Periodic inspection 88
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6.3. Fingertip replacement 89
6.4. Overhaul 90
7. Spare Parts, Kits and Accessories 91
8. Troubleshooting 94
8.1. Using the Robotiq User Interface (RUI) 94
9. Warranty andPatent 95
10. Harmonized Standards, Declarations and Certificates 97
10.1. Translation of original EC declaration of incorporation 97
10.2. Applied standards 98
11. Contact 99
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2F-85 &2F-140 - Instruction Manual
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 support.robotiq.com.
Revision 2021/05/19
lUpdated Warranty and Patent (section 9)
lUpdated Spare Parts, Kits and Accessories (section 7)
lUpdated figures (section 5.1.1)
lUpdated Center of mass and TCPtable (section 5.2.3)
lUpdated Preset multiple registers (section 4.7.3)
Revision 2020/02/11
Multiple modifications to standardize with our other manuals
Revision 2019/05/17
Environmental and Operating Conditions updated.
Revision 2019/04/24
First Publication of Instruction Manual
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2F-85 &2F-140 - Instruction Manual
Copyright
© 2019-2021 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.
5

1. General Presentation
The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85", "2-Finger 140", "2F-
85" and "2F-140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper. The Robotiq 2-Finger
Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm
(2F-85) or 140mm (2F-140). Both versions use the same base, installation and control will be exactly the same. The 2-Finger Gripper
is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly
pick, place, and handle a large range of objects of varying sizes and shapes.
Info
Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive
Gripper.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
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.
2F-85 &2F-140 - Instruction Manual
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2F-85 &2F-140 - Instruction Manual
1.1. Gripper nomenclature
The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below.
The grasp-type 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 grasp which simplifies the control of the gripper.
Fig. 1-1: Robotiq 2-Finger Adaptive Gripper.
Please refer to the Spare Parts, Kits and Accessories section for details on standard and optional parts.
Warning
The Led behavior can change depending on the communication protocol. Please contact Support for more details.
The status LED presented in the figure above will be :
lsolid blue/red when booting
lsolid blue when powered with no errors (while communication is active)
lsolid red if minor fault occurs, see status details in the Control section.
lblinking red/blue if major fault occurs, see status details in the Control section.
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2F-85 &2F-140 - Instruction Manual
1.2. 2F-85 vs. 2F-140
The 2-Finger Gripper has two configurations either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140). The chassis
remains the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions.
Finger kits are available in the Spare Parts, Kits and Accessories section.
Info
Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the Specifications section.
Fig. 1-2: The 2-Finger 85 and 140 mm versions.
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2F-85 &2F-140 - Instruction Manual
1.3. 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 grasp or encompassing grasp as shown in the figure below.
Info
Closing or opening is done via the "Go to requested position" command sent to the gripper. Whether the fingers close
to produce an encompassing or parallel grasp is determined mechanically by:
lThe objects's geometry;
lThe relative position of the object with respect to the gripper.
In other words, picking the same object could result in either an encompassing or fingertip grasp based on an object's
position and geometry.
Fig. 1-3: 2-Finger parallel and encompassing grips.
Info
It is important to note that a fingertip grasp 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. Refer to Fig. 1-5 for a visual representation of the parallel and
encompassing grasp regions on the distal phalanx of the 2-Finger Gripper.
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2F-85 &2F-140 - Instruction Manual
The 2-Finger Adaptive Gripper also allows for internal grasping. The fingers can pick hollow objects from the inside by applying
pressure with the outside of the fingers. Refer to the figure below for a visual representation and to the Picking Features section
for details on the possible position commands of your gripper.
Fig. 1-4: Finger internal and external grasping.
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2F-85 &2F-140 - Instruction Manual
The gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grasp. When grasping
an object close enough to the inside (palm) of the gripper, the encompassing grasp will occur (unless the object size or shape is
not adequate) and the fingers will close around theobject.
If grasped above the equilibrium line, the same object will be picked up in a parallel grasp by the fingertips and the fingers will
close with a parallel motion. The figure below shows the encompassing grasp region, the equilibrium line, and the parallel grasp
region on the2-Finger Adaptive Gripper.
Info
The details of the equilibrium line relation between opening angle and the related position d can be found in the
Mechanical specifications section.
Fig. 1-5: Equilibrium line on the 2-Finger.
Tip
Grasping an object that could be grasped by an encompassing grasp (a cylinder for example) on the equilibrium line is
not recommended, as slight variations on the position will switch the grasp from parallel to encompassing and vice
versa. Robot programming should be done so that the grasping mode will be predetermined.
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2F-85 &2F-140 - Instruction Manual
1.4. 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. Refer to the Electrical Setup section for wiring information and the Control section for control of the
gripper (various software packages are available for control via various robotcontrollers).
Info
Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus
RTU).
A gripper coupling is required for using 2-Finger, the coupling will provide mechanical and electrical connectivity. Please refer to
the Mechanical Installation section for installation of the coupling, to the Specifications section for technical drawings, and to the
Spare Parts, Kits and Accessories section for available couplings.
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 object is detected or until the position target from the ''go to'' command is reached. For details on object detection, see
Control section.
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2. Safety
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.
Caution
The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot
Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
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 nonetheless, discrepancies may be observed
between those and the delivered product.
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2.1. Warning
Caution
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
lThe Gripper needs to be properly secured before operating the robot.
lDo not install or operate a Gripper that is damaged or lacking parts.
lNever supply the Gripper with an alternative current source.
lMake sure all cord sets are always secured at both ends, at the Gripper and at the robot.
lAlways meet the recommended keying for electrical connections.
lMake sure no one is in the robot and/or Gripper path before initializing the robot's routine.
lAlways meet the Gripper's payload specifications.
lSet the Gripper's pinch force and speed accordingly, based on your application.
lKeep fingers and clothes away from the Gripper while the power is on.
lDo not use the Gripper on people or animals.
lFor welding applications, make sure there are no Gripper parts on the ground path of the welding power source.
2.1.1. Risk assessment and final application:
The Robotiq 2-Finger Adaptive 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 met. Depending on the application, there may be risks that require additional protection/safety
measures, for example, the work-piece the gripper is manipulating might be inherently dangerous to the operator.
2.2. Intended Use
The gripper unit is designed for grasping and temporarily securing or holding objects.
The product is intended for installation on a robot or other automated machinery and equipment.
Info
Always comply with local and/or national laws, regulations and directives on automation safety and general machine
safety.
The unit should be used exclusively 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.
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3. Installation
The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Gripper.
lThe Scope of Delivery section
lThe Required Tools and Equipment section
lThe Environmental and Operating Conditions section
lThe Mechanical Installation section
lThe Electrical Setup section
lThe Testing the Gripper with the Robotiq User Interface (RUI) section
Warning
Before installing:
lRead and understand the safety instructions related to the 2-Finger Adaptive Gripper.
lVerify your package according to the Scope of delivery and your order.
lHave the required parts, equipment and tools listed in the requirements readily available.
Warning
When installing:
lMeet the recommended environmental conditions.
lDo not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is
cleared. The fingers of the gripper may move and cause injury or damage.
2F-85 &2F-140 - Instruction Manual
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2F-85 &2F-140 - Instruction Manual
3.1. Scope of Delivery
Caution
The following is not included as part of a standard delivery:
lOptions such as adapter plates or couplings for mounting on various industrial robots, fingertips.
lHardware required for options; accessories or fixtures for the gripper, unless specified.
lPower supply units, power supply wiring or fuses.
Info
When bought as a kit, the gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling.
Please refer to the Spare Parts, Kits and Accessories section.
3.1.1. General Kit
A gripper Kit generally includes these items:
lRobotiq 2-Finger Adaptive Gripper
lCoupling
lRobotiq device cable
lUSB to RS485 signal converter
lScrew Kit
Fig. 3-1: Schema of the required hardware.
Depending on the robot, an adapter plate might be available. Refer to the Couplings section for more details.
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2F-85 &2F-140 - Instruction Manual
Depending on the communication protocol available, the user might need an additional signal converter such as a USB to RS232
converter, for serial ports, or a Robotiq Universal Controller for ethernet based communication. The Universal Controller supports:
lEthernet/IP
lModbus TCP
lEtherCAT
lPROFINET
lDeviceNet
lCANopen
lProfibus
3.2. Required Tools and Equipment
The following tools are required to install the 2-Finger Adaptive Gripper:
l4 mm hex key to mount the gripper onto its coupling.
lMetric hex key according to your coupling to mount the coupling onto the robot.
Optional tools if installing finger kits: AGC-FIN-KIT-085 or AGC-FIN-KIT-140:
l2 mm hex key
Optional tools if installing other fingertips: AGC-TIP-MLD-KIT-85,AGC-TIP-MLD-140,AGC-TIP-204-085,AGC-TIP-205-085,AGC-
TIP-420-140,AGC-TIP-421-140
l4 mm hex key
The following parts are required for setup :
lPower supply (see below).
lFuse (if applicable), see information below.
lEmergency stop is not provided, but its use is strongly advised.
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2F-85 &2F-140 - Instruction Manual
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]1
Table 3-1: 2-Finger power supply requirements.
Info
1Suggested 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.
Robotiq recommends the use of the following power supplies:
lFor the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply:DPP30-24.
Tip
Optional Robotiq Universal Controller can use the same power supply.
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2F-85 &2F-140 - Instruction Manual
3.3. Environmental and Operating Conditions
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
IP Rating IP 40
Other
lFree from dust, soot or fluids
lFree from corrosive liquids or gases
lFree from explosive liquids or gases
lFree from powerful electromagnetic inter-
ference
Table 3-2: Environmental and operating conditions of the 2-Finger Adaptive Gripper
3.4. Mechanical Installation
3.4.1. Installing the Gripper on the robot
Single Gripper Installation
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. Some couplings may require an additional adapter plate. To create your
own coupling or adapter plate you can refer to the Couplings section. To see the details of the available couplings and adapter
plates, please refer to the Spare Parts, Kits and Accessories section.
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