ROBOTIQ HAND-E Operation and maintenance manual

Robotiq Hand-E
for Hanwha Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2019 Robotiq Inc.

Robotiq Hand-E Gripper - Instruction Manual
Revisions 5
1. General Presentation 7
1.1. Gripper nomenclature 8
1.2. Object picking 10
1.3. Setup and control 11
2. Safety 12
2.1. Warning 12
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.1.1. Robotiq Hand-E Gripper Hanwha Kit 15
3.2. Required Tools and Equipment 16
3.3. Environmental and Operating Conditions 17
3.4. Mechanical Installation 18
3.4.1. Installing the fingers/fingertips/holders on the Gripper 18
3.4.2. Installing the Gripper onto the robot 20
Single Gripper 20
3.5. Electrical Setup 21
3.5.1. Pinout Interface 21
3.5.2. Coupling to controller 21
Single Gripper 24
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 24
3.7. Installation for Hanwha Robots 27
3.7.1. Installing the plugin 27
3.7.2. Uninstalling the plugin 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 35
4.5. Picking Features 38
4.5.1. Force control 38
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Robotiq Hand-E Gripper - Instruction Manual
4.5.2. Re-Grasp 39
4.5.3. Object detection 40
4.5.4. Brake engagement 40
4.6. Control Logic Example 41
4.7. Modbus RTUCommunication 42
4.7.1. Connection Setup 43
4.7.2. Read holding registers (FC03) 44
4.7.3. Read input registers (FC04) 45
4.7.4. Preset multiple registers (FC16) 46
4.7.5. Master read & write multiple registers FC23 47
4.7.6. Modbus RTU example 49
4.8. Control Over Hanwha Using the Plugin 58
4.8.1. Gripper Dashboard 58
5. User Interface 62
6. Specifications 63
6.1. Technical dimensions 64
6.1.1. Couplings 65
6.1.2. Fingers and fingertips 67
Rack 67
Basic aluminum finger 68
Fingertip holder 68
Flat silicone fingertip 69
Grooved fingertip 70
6.2. Mechanical specifications 71
6.2.1. Specifications: 71
Payload and force 72
Maximum payload/External force vs. Custom finger design 73
Friction grasp and form-fit grasp 74
Maximum payload by grasp type 74
6.2.2. Center of mass and tool center point 75
6.2.3. Moment and force limits 77
6.3. Electrical specifications 78
7. Maintenance 79
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Robotiq Hand-E Gripper - Instruction Manual
7.1. Gripper cleaning 80
7.2. Periodic inspection 82
7.3. Rack &pinion mechanism cleaning 83
8. Spare Parts, Kits and Accessories 84
9. Troubleshooting 86
10. Warranty andPatent 87
11. Contact 88
12. Harmonized Standards, Declarations and Certificates 89
12.1. Translation of original EC declaration of incorporation 89
12.2. Applied standards 90
12.3. Ingress Protection Certificate 91
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Robotiq Hand-E Gripper - 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 2019/05/17
lFirst publication of the Instruction Manual.
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Robotiq Hand-E Gripper - Instruction Manual
Copyright
© 2019 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", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in the following manual all refer to the Robotiq Hand-
E Gripper. The Robotiq Hand-E Gripper is a robotic peripheral 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 otherwise 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 the appropriate section of the manual. Safety guidelines must be read and understood
before any operation is attempted with theGripper.
Robotiq Hand-E Gripper - Instruction Manual
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Robotiq Hand-E Gripper - Instruction Manual
1.1. Gripper nomenclature
The Hand-E Gripper is a parallel gripper. Its two fingers are actuated by a single motor.
Fig. 1-1: Robotiq Hand-E
Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts.
The Hand-E basic gripper unit includes aluminum fingers, as shown in the figure above.
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Robotiq Hand-E Gripper - Instruction Manual
The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks. Refer to
the Installing the Gripper onto the robot section for more information on how to integrate custom fingers and fingertips to Hand-E.
Fig. 1-2: Mounting of a finger on a rack
When ordered as a kit (please refer to the Scope of Delivery section), a fingertip starting kit is included (please refer to the Spare Parts,
Kits and Accessories section). These fingertips should be mounted onto fingertip holders.
Fig. 1-3: Mounting of a fingertip on a fingertip holder (example)
Tip
It is possible to customize your own fingers or fingertips. You can install custom fingers directly on the racks and the
fingertips on the fingertip holders.
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Robotiq Hand-E Gripper - Instruction Manual
1.2. Object picking
The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping. The fingers can pick
hollow parts from the inside by applying pressure with the outer surface of the fingers.
See the figure below for a representation and refer to the Picking Features section for details on the possible position commands of
your Gripper.
Fig. 1-4: Hand-E Gripper internal and external gripping.
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