ROBOTIQ Gripper User manual

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

Table of Contents
Robotiq inc. © 2008 - 2014 2
Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Environmental and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Mechanical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Power supply specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5.1 Power connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.5.2 Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
DeviceNet communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CANopen communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Real-time Ethernet communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Serial communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.1 Supply LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2.2 Communication LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2.3 Fault LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.3 Gripper register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4 Robot output registers & functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 Robot input registers & status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.6 Control logic - example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.7 MODBUS RTU communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.7.1 Connection setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.7.2 Read holding registers (FC03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.7.3 Preset single register (FC06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.7.4 Preset multiple registers (FC16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.7.5 Master read&write multiple registers (FC23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.7.6 Modbus RTU example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.8 MODBUS TCP communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.8.1 Connection Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.8.2 Read Input Registers (FC04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.8.3 Preset Multiple Registers (FC16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.8.4 Modbus TCP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.8.5 Application with Universal Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5. User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.1 Technical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
6.2 Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.3 Design and customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.3.1 Finger pad replacement and customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.3.2 Palm pad replacement and customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.3.3 Fingertip replacement and customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.4 Moment of inertia and center of mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.5 Electrical ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
6.6 Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.6.1 Blank coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.6.2 Yaskawa SDA-5D_10D coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.6.3 Dimensions for custom coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.1 Gripper Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7.2 Applying Grease . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.3 Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.4 Finger Pad Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.5 Gripper Palm Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.6 Fingertip Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.7 Gear replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.8 Overhaul . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
8. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
10. Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
11. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
EC Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

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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 140613
Update for Robotiq Adaptive Gripper S-7
Revision 130607
Annex added : EC incorporation
Section added : Maintenance subsection
Section added : Spare parts, Kits and Accessories
Section added : Design and customization
Revision 130206
Section added : Troubleshooting
Section added : Communication with UR robots
Minor modifications
Revision 121031
Update for Robotiq Adaptive Gripper S-6
Revision 120209
Update for Robotiq Adaptive Gripper S model 5.1
Revision 120118
Update for Robotiq Firmware 3.0
Revision 111031
Sections added: User Interface and MODBUS TCP communication protocol
Revision 110515
Manual 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.

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1. General Presentation
The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper" , "S-Model", "3-Finger Gripper" and "Robotiq Adaptive
Gripper" used in the following manual all refer to the . The RobotiqRobotiq 3-Finger Adaptive Robot Gripper
3-Finger Adaptive Robot Gripper is a robotic peripheral that is designed for industrial applications. Its design makes
it a unique robotic end-of-arm tool to pick, place and handle a large range and volume 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 should not be considered as
being related 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.
The Adaptive Gripper has three articulated fingers, i.e. Finger A in front of Finger B and Finger C, that each have
three joints (three phalanxes per finger), as shown in Figure 1.1. The Gripper can engage up to ten points of contact
with an object (three 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 object they grip and it also simplifies the control of the Gripper.
Figure 1.1 : The Robotiq 3-Finger Adaptive Robot Gripper.

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1.
2.
3.
4.
Two different types of movements can be performed with the Gripper. The first determines the type of grip being
used and simultaneously changes the orientation of Fingers B and C as shown in Figure 1.2. This movement is
referred to as the 'Operation Mode'. The Operation Mode is determined by the user prior to the grip as a function of
the size or shape of the object being gripped and for the task that has to be done.
Figure 1.2 : First type of movement for the 3-Finger Adaptive Robot Gripper: changing the Operation Mode
Operation Modes:
The is the most versatile Operation Mode. It is best suited for objects that have one dimensionbasic mode
longer than the other two. It can grip a large variety of objects.
The is optimal for gripping round or large objects.wide mode
The is used for small objects that have to be picked precisely. This Operation Mode can onlypinch mode
grip objects between the distal phalanxes of the fingers.
The is used primarily for tiny objects. This mode is less powerful than the other three modes,scissor mode
but is precise. In scissor mode, it is not possible to surround an object. Here, Fingers B and C move laterally
towards each other while Finger A remains still.

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The four pre-set Operation Modes can be chosen by the user (see Figure 1.3).
Figure 1.3 : The four Operation Modes of the 3-Finger Adaptive Robot Gripper.
The second movement of the Gripper is the closing and opening of the fingers as shown in Figure 1.4. This action is
performed with a single input from the user. Each finger is not controlled independently; the Gripper itself closes
each finger until it reaches a stable configuration, on an object or against the Gripper palm. Note that a user can
specify the relative speed at which the fingers will close and the relative force that will be applied to an object.
Figure 1.4 : Second movement of the 3-Finger Adaptive Robot Gripper: closing and opening the fingers.

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Two types of grips occur when closing the 3-Finger Adaptive Robot Gripper on an object: Fingertip Grip or
Encompassing Grip.
The is when an object is only held by the distal phalanxes. This type of grip is similar to whatFingertip Grip
is done with conventional industrial parallel grippers. In this situation, the stability of the grip is maintained
because of the friction between the fingers and the object.
The is when the fingers surround an object. The object is encompassed within theEncompassing Grip
fingers and the stability of the grip is no longer related to friction. We suggest using the Encompassing Grip
whenever possible to increase grip stability.
Figure 1.5 shows the two types of grips.
Figure 1.5 : The Two Types of Grip, Encompassing and Fingertip Grips.
Note
It is important to note that a parallel 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 when performing an encompassing grip.
Note that the Encompassing Grip cannot occur in all Operation Modes. For example, in Pinch and Scissor modes, it
is only possible to do Fingertip Gripping. On the other hand, the Fingertip Grip can occur in all four Operation
Modes. Figure 1.6 summarizes the Types of Grip possible for each Operation Mode.

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Info
Operation Modes are inputs to the Gripper. Whether the fingers close to produce an
. It will dependEncompassing or Fingertip grip is decided at the Gripper level automatically
on:
The Operation Mode;
The part's geometry;
The relative position of the part with respect to the Gripper.
In other words, picking the same part using the same Operation Mode could result in either an
Encompassing or Fingertip Grip based on a part's position and geometry.

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Figure 1.6 : Operation Modes vs. Types of Grip.

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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 3-Finger Adaptive Robot Gripper.
The term "operator" refers to anyone responsible for any of the following operations on the
3-Finger Adaptive Robot Gripper :
Installation
Control
Maintenance
Inspection
Calibration
Programming
Decommissioning
This documentation explains the various components of the 3-Finger Gripper and its general operation. Please read
this documentation thoroughly and be sure to understand its contents before handling the 3-Finger Gripper.
The drawings and photos in this documentation are representative examples and differences may exist between
them and the delivered product.

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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 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.
Inappropriate use of the Gripper may cause injury or damage.
Warning
Concerning Gripper use on a robot :
Make sure all cord sets are always secured at both ends, at the Gripper and at the robot.
Always handle the Gripper outside the robot danger zone for maintenance and inspection
work or ensure complete shutdown of the robot.
For welding applications, make sure there are no Gripper parts on the ground path of the
welding power source.
There is a risk that an object might be dropped or catapulted by the Gripper during use
with a robot, precautions must be taken to prevent any possible injury.

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2.2 Intended use
The Gripper unit is designed for gripping and the temporary secure holding of 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 improper use.

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3. Installation
Warning
Be sure to read and understand the related to the 3-Finger Gripper prior tosafety instructions
installation.
Warning
Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored. The
Gripper fingers may move and cause injury or damage.
3.1 Scope of delivery
Standard upon delivery :
Robotiq 3-Finger Adaptive Robot Gripper ( )AGS-001-XXXX
Replace by one of the following communication options :XXXX
ENIP - EtherNet / IP
MTCP - Modbus TCP
M232 - Modbus RTU over serial 232
M485 - Modbus RTU over serial 485
ECAT - EtherCAT
DNET - DeviceNet
CANO - CANopen
PNET - PROFINET
Default fingertip (see ).Technical dimensions
5m Power cable for the 3-Finger Adaptive Gripper CBL-PWR-2054.
USB cable (for control via the Robotiq User Interface).CBL-USB-2057
5m Communication cable according to your communication protocol option.
Grease syringe for maintenance.ACC-LUB-SHC1500
Note
The following are not included with the delivery of the 3-Finger Adaptive Robot Gripper unless
:specified
Hardware required for any of the communication options, accessories, faceplates or
fixtures.
Power supply unit, power supply wiring or fuse.
See Spare Parts, Kits and Accessories section for a list of available parts.

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3.2 Environmental and operating conditions
The Gripper is designed for industrial applications. Always respect the conditions specified for storage and operating
environments:
SPECIFICATION VALUE
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 gases, liquids or explosive
gases
Free from powerful electromagnetic interference
sources
Cleanliness of the Gripper surface influences friction between parts and the Gripper, keep your
Gripper clean and away from debris generators. Follow the specified intervals.maintenance

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1.
a.
b.
c.
2.
3.
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 model or Robotiq can create a custom version
based on blanks in for you or you can build one based on the dimensions in . Please seesection 6.6 section 6.6.1.1
Robotiq support for a list of available coupling and adapters. Options and Spare Parts 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 Coupling to your robot arm (if your cables are running through the robot, be sure to use a Coupling
with a groove).
If you are using an Adapter Plate, it must be mounted first on the robot arm, using the dowel pins for
indexing and the screws to secure the adapter plate in place.
Attach the Coupling to the robot arm using the correct dowel pins for indexing.
Secure the Coupling with the coupling (robot) screws.
Insert the Gripper's Universal Wrist into the coupling and align the indexing dowel pin with the associated
hole.
Secure the Gripper to the Coupling with the radial screws.
Figure 3.3.1 : Attaching the to a robot arm with the use of a Coupling.3-Finger Gripper

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3.4 Power supply specifications
The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. The
following table shows the specifications regarding the power supply required to operate the Gripper properly.
SPECIFICATION VALUE
Output voltage 24 V DC
Output current 2 A
Ripple 2-3 % peak-peak
Output regulation 10% maximum
Overcurrent 4 A fuse at 77°F [25 C]
o
Maximum fuse I t factor
2100 A s at 77°F [25 C] 2 o
Overvoltage protection Not required1
Warning
1Always respect the ripple and output regulation tolerances on the output voltage, exceeding
these limits could damage the Gripper. If your power supply can exceed the specified regulation,
overvoltage protection is required.
Robotiq recommends the use of the following power supply : TDK-Lambda DPP100 Series, 15-100W Single Output
, DIN Rail Mount Power Supply DDP100-24-1

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1.
2.
3.
3.5 Wiring
Two connections are needed for the , one for power and one for communication. On the Gripper,3-Finger Gripper
both are located on the Connection Panel shown in Figure 3.5.1.
Figure 3.5.1 : Power, USB and communication receptacles shown with USB cover removed.
Connections are identified as :
PWR for power connection.
COM for communication connection (depends on your chosen protocol).
USB for a standard USB male A jack (present on all products).
Info
Note that the communication connector (COM) shown in figure 3.5.1 will change according to the
provided communication protocol. Status LED, USB 2.0 port and power connector (PWR) are
standard on every Robotiq 3-Finger Adaptive Robot Gripper.
To access the USB panel :
Unscrew the two 4-40 FHMS (Flat Head Machine Screws) present on the cover.
Remove the cover.
Plug in your standard Male-A USB 2.0 connector.
Tip
When closing the panel, apply low strength (pink) to the screws to prevent loosening.Loctite
Standard cables for the 3-Finger Adaptive Robot Gripper are :
5 meters power cable
5 meters communication cable (according to your chosen communication protocol)
5 meters USB 2.0 cable A-A male

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Info
All required cables are available from Robotiq, see the sectionSpare Parts, Kits and Accessories
.
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow
movement of the Gripper along all axes without putting tension on the cable or pulling out the
connectors. Always protect the controller-side connector of the cable with a strain relief cable
clamp.

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3.5.1 Power connection
Here is the way the Gripper should be connected to a power source (Figure 3.5.1.1).
Figure 3.5.1.1 : Power connection diagram of the 3-Finger Adaptive Robot Gripper.
Caution
The 4A fuse is external to the Gripper. It is not provided by Robotiq and the user is responsible
for proper installation.
The pin-out of the power connectors is detailed in Figure 3.5.1.2.

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Figure 3.5.1.2 : Gripper Power Input and Power Connector.
Info
RS485 communication is standard on all 3-Finger Grippers, see the Serial Communication
section. If not using RS485 communication, simply leave the two wires unconnected.Protocol
The should be supplied with cables that have the following specifications:3-Finger Gripper
Approximate length of 5 meters.
DeviceNet standard cable.
Power pair :
two (2) #22 AWG (black and red).
Data pair :
two (2) #22 AWG (blue and white).
Shield :
Foil (data only) #22 AWG.