ROBOTIQ HAND-E User manual

Robotiq Hand-E
for Universal Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2020. Robotiq, Inc.

Robotiq Hand-E Gripper Instruction Manual
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Robotiq Hand-E Gripper Instruction Manual
Revisions 5
1. General Presentation 8
1.1. Gripper nomenclature 9
1.2. Object picking 11
1.3. 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 18
3.3. Environmental and Operating Conditions 19
3.4. Mechanical Installation 20
3.5. Electrical Setup 27
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 32
3.7. Installation for Universal Robots 33
3.8. URCap Package 34
4. Control 43
4.1. Overview 43
4.2. Gripper Register Mapping 45
4.3. Robot Output Registers &Functionalities 46
4.4. Robot Input Registers andStatus 48
4.5. Picking Features 52
4.6. Control Logic Example 54
4.7. Modbus RTUCommunication 54
4.8. Hand-E Gripper and I/O Coupling communication 68
4.9. Control over Universal Robots 69
5. Specifications 101
5.1. Technical dimensions 102
5.2. Mechanical Specifications 108
5.3. Electrical specifications 115
6. Maintenance 116
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Robotiq Hand-E Gripper Instruction Manual
6.1. Gripper cleaning 117
6.2. Periodic inspection 118
6.3. Rack &pinion mechanism cleaning 119
7. Spare Parts, Kits and Accessories 121
8. Troubleshooting 125
8.1. Using the LEDof the Hand-E Gripper 125
8.2. Using the LED of the USB to RS485 converter 126
8.3. Using the Robotiq User Interface (RUI) 126
8.4. Troubleshooting Universal Robots Models 127
9. Warranty andPatent 129
9.1. I/O Coupling Warranty 130
10. Harmonized Standards, Declarations and Certificates 132
10.1. EC declaration of incorporation 132
10.2. Applied standards 133
10.3. Ingress Protection Certificate 134
11. License Agreement 135
12. Contact 138
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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 robotiq.com/support.
Revision 2020/05/28
lMinor Revision:modifications to standardize our manuals
lSection "Warranty and Patent"
lCycle count is now 5 000 000.
lConsumable parts are now excluded of the warranty.
lSection "Specifications"
lUpdated subsection "Mechanical Specifications"
lUpdated subsection "Electrical Specifications"
lUpdated subsection "Technical Dimensions"
lSection "Harmonized Standards, Declarations and Certificates"
lUpdated subsection "EC declaration of incorporation"
lUpdated subsection "Applied Standards"
Revision 2019/12/19
lMajor Revision: fused sections that were exclusive to e-Series or to CB-Series , to be displayed in a single Instruction Manual
lRemoved Section 5: User Interface
lRemove sections "Retro-compatibility of URCaps with legacy driver programs "and "Control over Universal Robots without
URCaps"
lSection "Troubleshooting"
lRewrote section, formatted troubleshooting instructions in tables
lAdded subsection "Troubleshooting with RUI"
lSection "Control"
lAdded subsection "Limiting your Gripper Force and Speed"
lAdded subsection "Visual Cues of Force and Speed Limitation"
lRemoved subsections which were empty except for the note "Coming Soon"
l"Measured grip force for steel of specifichardness(Vickers)"
l"Measured grip force for silicone of specific hardness (Durometer)"
lRevised data on register and bits in subsection "Modbus RTUCommunication"
lSection "Installing URCap Package"
lCreated subsection "Activating a Gripper Connected to the Robot Wrist"
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Robotiq Hand-E Gripper Instruction Manual
lSection "Specifications"
lUpdated subsection "Fingers and Fingertips" with latest information on V-groove fingertips
lUpdated subsection "Mechanical Specifications"
Revision 2019/10/10
lAdded section "Electrostatic Discharge Safety
Revision 2019/07/04
lBasic gripper kits now include by default NBRovermolded fingers. Updated Specifications section and Spare Parts, Kits and
Accessories section
lAdded subsection Flat Rubber (NBR)Overmolded Fingers to Specifications section
lModified Figure 3 from the General Presentation section.
lChanges to schematics shown under subsections Coupling for PCD 60 with 4 x M5 (Figure 6-8) and Coupling for PCD 63 with 6 x M6
(Figure 6-9).
Revision 2019/05/17
lUpdated Environmental and Operating Conditions (Section 3.3)
Revision 2019/03/13
lUpdated mechanical specifications (Section 6.2)
Revision 2019/02/19
lUpdated Section 6 to modify the grip force
Revision 2018/09/11
lUpdated Section 3 according to the robot used (CB-Series vs. e-Series)
lUpdated Section 4
lInput &Output Registers
lControl over Universal Robots depending on the robot software used (PolyScope 3.6 and later version vs. PolyScope 5.0 and
later versions)
lAdded LEDand move functions to the list of available functions
lUpdated Section 8 with new spare parts, kits and accessories
Revision 2018/05/24
lOfficial release
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Robotiq Hand-E Gripper Instruction Manual
Copyright
© 2018 - 2020 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 this manual are used interchangeably to designate
the "Robotiq Hand-E Gripper". The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. It is a unique
robotic end-of-arm tool designed to quickly pick, place and handle parts in a broad range of sizes and shapes.
Info
This manual uses the metric system. Unless otherwise 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.
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 Gripper.
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 flat aluminum fingers overmolded with NBR.
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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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 on the Robot section for more information on how to integrate custom fingers and fingertips to Hand-E.
Fig. 1-2: Mounting 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 a fingertip on a fingertip holder (example).
Tip
You can customize fingers and fingertips. Mount custom fingers on racks, and fingertips on fingertip holders.
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