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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Robotiq Hand-E Gripper - Instruction Manual
1.3. 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. Please refer to the Electrical Setup section for wiring information and to the Control section for control of the Gripper
(software packages are available for control via some types of robotcontrollers).
Info
Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU
over serial).
A gripper coupling is required for using Hand-E; the coupling will provide mechanical and electrical connectivity. Please refer to the
Mechanical Installation section for installation of the coupling, to the Technical dimensions section for technical drawings, and to the
Spare Parts, Kits and Accessories section for available couplings.
The Hand-E Gripper has an embedded object detection feature using indirect sensing methods. When picking an object with 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, please refer to the
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
Hand-E Gripper.
Info
The term "operator" refers to anyone responsible for any of the following operations on the RobotiqHand-E Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
This documentation explains the various components of the Robotiq Hand-E Gripper 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; nonetheless, discrepancies may be observed between
those and the delivered product.
2.1. Warning
Info
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.
Robotiq Hand-E Gripper - Instruction Manual
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Robotiq Hand-E Gripper - Instruction Manual
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.
Risk assessment and final application:
The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the
final application must be evaluated via a thorough 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 gripping and temporarily securing or holding objects.
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.
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 Hand-E Gripper.
Warning
Before installing:
lRead and understand the safety instructions related to the Hand-E 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.
Robotiq Hand-E Gripper - Instruction Manual
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Robotiq Hand-E Gripper - Instruction Manual
3.1. Scope of Delivery
3.1.1. Robotiq Hand-E Gripper Hanwha Kit
Standard upon delivery
lRobotiq Hand-E Basic Gripper Unit: HND-GRP-001
lHand-E Aluminum Finger Kit
lScrew kit
lUSBto RS485 signal converter:ACC-ADT-USB-RS485
lCoupling for connection to the robot controller:GRP-CPL-062
Info
Please refer to the Spare Parts, Kits and Accessories section for a list of available couplings.
lRobotiq device cable: CBL-COM-1065-10-HF
Caution
The following are not included in the standard delivery:
lOptions such as adapter plates or couplings for mounting on various industrial robots, fingertips or finger pads.
lHardware required for options; accessories or fixtures for the Hand-E Gripper, unless specified.
lPower supply units, power supply wiring or fuses.
Info
When bought as a kit, the Hand-E Gripper will come in a package with the appropriate coupling, fingers/fingertips and
cabling. Please refer to the Spare Parts, Kits and Accessories section.
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Robotiq Hand-E Gripper - Instruction Manual
3.2. Required Tools and Equipment
The following tools are required to install the Hand-E 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 fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-RUB-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT
l2,5 mm hex key
The following parts are required for setup :
lPower supply (see below).
lFuse, see information below.
lEmergency stop is not provided, but its use is strongly advised.
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: Hand-E power supply requirements.
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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Robotiq Hand-E Gripper - 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 67
Table 3-2: Environmental and operating conditions of the Hand-E Gripper.
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Robotiq Hand-E Gripper - Instruction Manual
3.4. Mechanical Installation
3.4.1. Installing the fingers/fingertips/holders on the Gripper
The figures below list the material and tools needed to mount fingers or fingertips/holders onto the racks of the Hand-E Gripper.
Fig. 3-1: Mounting the fingers on the racks
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Robotiq Hand-E Gripper - Instruction Manual
Fig. 3-2: Mounting fingertips on holders (and then on the racks)
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Robotiq Hand-E Gripper - Instruction Manual
3.4.2. Installing the Gripper onto the robot
Single Gripper
Here are the steps to follow to mount the Gripper to your robot (see figure below). Note that all screws must be locked in place using
medium strength threadlocker.
1. Screw the coupling to the robot.
2. Screw the Gripper onto its coupling.
Fig. 3-3: Installing the Gripper onto the robot wrist
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