ROBOTIQ 85 User manual

1
© ROBOTIQ INC. 2014
Get the latest version of the manual at support.robotiq.com

Table of Contents
Robotiq inc. © 2014 2
Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Environmental and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Mechanical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.4 Power supply specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5.1 Power connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5.2 Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2 Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 Gripper register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.4 Robot output registers & functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.5 Robot input registers & status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.6 Control logic - example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.7 MODBUS RTU communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.7.1 Connection setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.7.2 Read holding registers (FC03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.7.3 Preset single register (FC06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.7.4 Preset multiple registers (FC16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.7.5 Master read & write multiple registers (FC23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.7.6 Modbus RTU example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.8 MODBUS TCP communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.8.1 Connection setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.8.2 Read input registers (FC04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.8.3 Preset multiple registers (FC16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.8.4 Modbus TCP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.8.5 Application with Universal Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5. User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.1 Technical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.2 Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.3 Moment of inertia and center of mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.4 Electric ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.5 Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.5.1 Blank coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.5.2 ISO 9409-1-31.5-4-M5 Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.5.3 ISO 9409-1-40-4-M6 Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6.5.4 ISO 9409-1-50-4-M6 Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.5.5 Baxter Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.6 Finger pad installation and customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.1 Gripper cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.2 Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
7.3 Finger pad replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.4 Overhaul . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
10. Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
11. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
EC Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 3
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 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
© 2008-2014 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 Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 4
1. General Presentation
The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "C-Model" and "2-Finger -
85" used in the following manual all refer to the . The Robotiq Robotiq 2-Finger Adaptive Robot Gripper - 85
Adaptive Gripper 2-Finger - 85mm 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 parts of varying sizes
and shapes.
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 appropriate sections of the manual.
Safety guidelines must be read and understood before any operation is attempted with the
Gripper.
The 2-Finger - 85 Gripper has two articulated fingers, i.e. finger A in front of finger B, 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 objects (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 - 85
The 2-Finger - 85 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 1.2.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 5
Figure 1.2 : The .2-Finger Adaptive Robot Gripper - 85
It is important to note that a fingertip grip can only be performed when the fingers touch the object with 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
before performing an encompassing grip.
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 encompassing or fingertip grip is
. It will depend on: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 fingertip grip
based on a part's position and geometry.
The also offers external gripping. The fingers can pick hollow parts by applying2-Finger Adaptive Robot Gripper - 85
pressure with the outside of the fingers. See Figure 1.3 for a representation and see for details on thesection 4.6
possible position commands of your Gripper.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 6
Figure 1.3 : The internal and external gripping.2-Finger Adaptive Robot Gripper - 85
The Gripper is powered and controlled via the Robotiq Universal Controller. (Figure 1.4) Upon delivery your
controller will be set with the adequate communication option and ready to use. The details on the controller wiring
and usage are described in the .Robotiq Universal Controller Instruction Manual
Figure 1.4 : The Robotiq Universal Controller.
The Gripper equilibrium line is the gripping region that separates the encompassing grip from the parallel grip. When

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 7
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 and the fingers will close with a parallel motion.
Info
The same pattern applies for an inside grip.
The following Figure 1.5 shows the , the , and the encompassing grip region equilibrium line parallel grip region
on the finger pad.2-Finger Adaptive Robot Gripper - 85
Figure 1.5 : Equilibrium line for the finger pad.2-Finger Adaptive Robot Gripper - 85

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 8
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 85.–
The term "operator" refers to anyone responsible for any of the following operations on the
2-Finger Adaptive Robot Gripper 85 :–
Installation
Control
Maintenance
Inspection
Calibration
Programming
Decommissioning
This documentation explains the various components of the 2-Finger 85 and general operations regarding the–
whole lifecycle 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.
2.1 Warning
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 respect 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 respect 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.
Any use of the Gripper in noncompliance of these warnings is inappropriate and may
cause injury or damage.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 9
2.2 Intended use
The Gripper unit is designed for gripping and temporarily securing or holding parts.
Caution
The Gripper is NOT intended for applying force against objects or surfaces.
The product is intended for installation on a robot or other automated machinery and equipment.
Note
Always comply with local and/or national laws, regulations and directives on automation safety
and general machine safety.
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.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 10
3. Installation
Warning
Be sure to read and understand the related to thesafety instructions 2-Finger Adaptive Robot
prior to installation.Gripper - 85
Warning
Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the
The Gripper's fingers may move and cause injury or damage.danger zone is cleared.
Note
The 2-Finger Adaptive Robot Gripper - 85 is meant to be used with the Robotiq Universal
Controller, see the for details on its installation procedure.Controller Manual
3.1 Scope of delivery
Standard upon delivery :
Robotiq 2-Finger Adaptive Robot Gripper 85 unit ( )– AGC-GRP-001
Default fingertip (see )Technical dimensions
Mandatory but not standardized :
Robotiq Universal Controller unit ( ) with the choice of one communication protocol :UNI-CTR-001-XXXX
ENIP - Ethernet / IP communication protocol.
MTCP - Modbus TCP communication protocol.
ECAT - EtherCAT communication protocol.
PNET - ProfiNET communication protocol.
DNET - DeviceNet communication protocol.
CANO - CANopen communication protocol.
PROFIBUS - ProfiBUS communication protocol.
Gripper cable (between the 2-Finger Adaptive Gripper 85 and its controller unit).CBL-COM-2053 –
USB cable (for reconfiguration of the 2-Finger Adaptive Gripper 85 controller).CBL-USB-2057 –
Note
The following are not included in delivery :
Options such as couplings and adapters for mounting on various industrial robots.
Hardware required for any options; accessories or fixtures for the 2-Finger Adaptive Robot
Gripper – 85 unless specified.
Power supply units, power supply wiring or fuses.
See Spare Parts, Kits and Accessories section for a list of available parts.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 11
3.2 Environmental and operating conditions
The Gripper is designed for industrial applications. Always respect the following specified storage and operating
environmental conditions:
Minimum storage/transit temperature -22°F [-30°C]
Maximum storage/transit temperature 140°F [60°C]
Minimum operating temperature 14°F [-10°C]
Maximum operating temperature 122°F [50°C]
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

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 12
1.
2.
3.
4.
3.3 Mechanical connections
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 available couplings and adapter plates and for details on differentCoupling Specification Section
couplings and adapters see the .Spare Parts, Kits and Accessories section
Here are the steps to follow for the installation of the Gripper (see Figure 3.3.1). Note that all screws must be locked
in place using medium strength thread locker (Loctite 248),
Screw the adapter plate to your robot arm (if your cables are running through the robot, be sure to use a plate
with a groove). adapter plates are optional, screws for the robot side are not provided.
Attach the coupling to the adapter plate or directly onto the robot arm by aligning the indexing dowel pin with
the associated hole. The indexing pin may or may not be present on the coupling, the adapter plate or the
robot arm.
Screw the coupling to your robot arm or to the adapter plate if present.
Align the 2-Finger-85 Gripper to the coupling and secure the Gripper with radial screws.
Figure 3.3.1 : Attaching the to a robot arm with an adapter plate and coupling.2-Finger Adaptive Robot Gripper - 85

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 13
3.4 Power supply specifications
See the appropriate section of the .Robotiq Universal Controller Instruction Manual
3.5 Wiring
Power and communication are established between the and the Robotiq2-Finger Adaptive Robot Gripper - 85
Universal Controller via a single Device Cable (shown in Figure 3.5.1).
Figure 3.5.1 – Device Cable for the Robotiq .2-Finger Adaptive Robot Gripper - 85
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow
movement of the Gripper along all axes without pulling out the connectors. Always protect the
controller-side connector of the cable with a strain relief cable clamp.
Figure 3.5.2 represent the 2-Finger-85 Device Cable connectors and the associated pinout. The M12 8-pin
connector connects onto the Gripper while the 10 pin Combicon connector connects onto the Universal Controller.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 14
Figure 3.5.2 – Pinout of the Device Cable.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 15
3.5.1 Power connection
Consult the Robotiq Universal Controller Instruction Manual for details on :
Power supply specifications
Wiring
Power connections and fusing
Caution
Respect the Robotiq Universal Controller power supply recommendations for wiring and fusing at
all times.
Warning
The 2-Finger Adaptive Robot Gripper -85 is not designed to be hot wired, never plug the Gripper
into live power.
Motion may occur if the Gripper is hot wired.
3.5.2 Communication connection
Consult the Robotiq Universal Controller Instruction Manual for details on the various Communication protocol
and configurations available :setups
Real-time Ethernet communication protocols
Modbus TCP
EtherNet / IP
EtherCAT
ProfiNET
DeviceNet communication protocol
CANopen communication protocol
ProfiBUS communication protocol

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 16
4. Control
Info
Unless specified, all values in Section 4 are hexadecimal values.
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit). Meaning that bytes are written with the least significant byte in the smallest
address. If Big-endian would be writing from left to right, Little-endian would be writing from right
to left.
4.1 Overview
The Robotiq is controlled from the robot controller (see Figure 4.1.1) using an2-Finger Adaptive Robot Gripper - 85
industrial protocol (Ethernet/IP, DeviceNet, CANopen, EtherCAT, etc.). The programming of the Gripper can be
done with the of the robot or by offline programming.Teach Pendant
Info The operator can control the force and the speed of the fingers.
The finger's movement is always synchronized, movement is done with a single "Go to
requested position" command (the motion of each mechanical phalanx is done
automatically).
Since the Robotiq has its own controller, high-level commands such as "Go to2-Finger Adaptive Robot Gripper - 85
requested position" are used to control it. The Robotiq Universal Controller takes care of the regulation of the speed
and the force prescribed, while the mechanical design of the fingers automatically adapt to the shape of object(s).
Figure 4.1.1 : Robotiq connections.2-Finger Adaptive Robot Gripper - 85

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 17
1.
2.
The Universal Controller for the Gripper has an internal memory that is shared with the robot controller. One part of
the memory is for the robot output, gripper functionalities. The other part of the memory is for the robot input, grip
per status. Two types of actions can then be done by the robot controller :
Write in the registers to activate ;robot output functionalities
Read in the registers to get the of the Gripper.robot input status
Figure 4.1.2 : Gripper memory overview from the robot controller.
To control the Robotiq 2-Finger Adaptive Gripper - 85 must be written, theOutput Registers & Functionnalities
following is a summary of the various registers, see for details :Robot output registers & functionnalities
Action request - Will command the Gripper to activate, go to requested position or release its grip.
Position request - Sets the desired position of the grip (but does not activate movement).
Speed - Sets the desired speed of the grip.
Force - Sets the desired force of the grip.
Hint The Gripper must be initialized (activation bit) at power on. This procedure takes a few
seconds and allows the Gripper to be calibrated against internal mechanical stops.
The movement of the fingers is always synchronized, movement is done with a single "Go
to requested position" command (the motion of each mechanical phalanx is done
automatically).
The 2-Finger Gripper returns several registers of information to the robot controller to be read, this is called Input
, see for details:Registers & Status Robot input registers & status
Gripper status - A global Gripper status is available. This gives information such as if the Gripper is closed
or open.
Object status - Lets you know if there is an object in the Gripper.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 18
Hint Object status is a built in feature that allows for object pick-up detection, see Robot
for details.input registers & status
Fault status - The fault status gives additional details about the cause of a fault.
Position request echo - The Gripper returns the position requested by the robot to make sure that the new
command has been received correctly.
Position - Information on the actual position of the Gripper from encoders of the motor is also available.
Finger current - The current of the motor can also be known. Since the torque of the motor is a linear
function of the current, this gives information about the force that is applied at the actuation linkage of the
finger.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 19
4.2 Status LED
The Gripper has a single LED next to the connector shown in Figure 4.2.1. A solid blue LED means the Gripper is
powered. For information on the Controller LEDs, consult the Controller manual.
Figure 4.2.1 – Gripper status LED.

Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual
Robotiq inc. © 2014 20
4.3 Gripper register mapping
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit).
Register mapping:
Caution
Byte and not at 1 for the functionalities and status registers.numeration starts at zero
Register Robot Output / Functionalities Robot Input / Status
Byte 0 ACTION REQUEST GRIPPER STATUS
Byte 1 RESERVED RESERVED
Byte 2 RESERVED FAULT STATUS
Byte 3 POSITION REQUEST POS REQUEST ECHO
Byte 4 SPEED POSITION
Byte 5 FORCE CURRENT
Byte 6 to 15 RESERVED RESERVED