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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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 avaible position commands for 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. Refer to the Electrical Setup section for wiring information and the Control section for control of the gripper (software
packages are available for control via some types of robotcontrollers).
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 Specifications 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, see 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 Robotiq Hand-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 life-
cycle 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.
Robotiq Hand-E Gripper Instruction Manual
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Robotiq Hand-E Gripper Instruction Manual
2.1. Warning
Caution
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.
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.
2.1.1. Risk assessment and final application:
The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, Gripper and any other equipment used in the final
application must be evaluated with a 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.
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.
lThe Scope of Delivery section
lThe Required Tools and Equipment section
lThe Environmental and Operating Conditions section
lThe Mechanical Installation section
lThe Electrical Setup section
lThe Testing the Gripper with the Robotiq User Interface (RUI) section
lThe Installation for Universal Robots section
lThe URCap Package section
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
Caution
The following is not included as part of a 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 gripper, unless specified.
lPower supply units, power supply wiring or fuses.
Info
When bought as a kit, the gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling.
Please refer to the Spare Parts, Kits and Accessories section.
3.1.1. Robotiq Hand-E Gripper URStandard Kit
Standard upon delivery for CB Series and e-Series
lRobotiq Hand-E basic gripper unit (HND-GRP-001)
lHand-E gripper
lHand-E NBRovermolded aluminum fingers kit
lScrew kit
lUSB stick
lHand-E Fingertip Starting Kit (HND-TIP-START-KIT)
For CB-Series
lUSBto RS485 signal converter(ACC-ADT-USB-RS485)
lCoupling for connection to the robot controller(GRP-CPL-062)
lRobotiq device cable (CBL-COM-1065-10-HF)
For e-Series
lGripper Coupling Kit (GRP-ES-CPL-062)
lWrist connection protector
lCoupling for connection to robot wrist
Info
See the Spare Parts, Kits and Accessories section section for a list of available couplings.
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Robotiq Hand-E Gripper Instruction Manual
3.1.2. UR Wrist connection Kit for CB-Series
Hand-E Wrist Connection Kit for CB-Series (HND-UR-KIT-W)
Standard upon delivery
lRobotiq Hand-E basic gripper unit (HND-GRP-001)
lHand-E gripper
lHand-E NBRovermolded aluminum fingers kit
lScrew kit
lUSB stick
lHand-E Fingertip Starting Kit (HND-TIP-START-KIT)
lI/O Coupling Kit (IO-CPL-UR-CB-KIT) :
lI/O Coupling (IO-CPL-CB)
lScrew Kit to install on the robot
lMicro-USB to USB cable
lUSB stick
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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.
l3 mm hex key to install the wrist connection protector (on e-Series only)
Optional tools if installing fingertip/holder kits: HND-FIN-ALU-KIT,HND-TIP-VGR-KIT or HND-TIP-HLD-KIT
l2,5 mm hex key
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.
Info
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 temperature -30°C [-22°F]
Maximum storage 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
Other
lFree from corrosive liquids or gases
lFree from explosive liquids or gases
lFree from powerful electromagnetic interference
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 Gripper on the Robot
Single Gripper Installation
Instructions
You must use a coupling to attach the gripper on the robot. Here are the steps to follow to mount the gripper on the robot (exploded
views in the figure below).
1. Secure the gripper coupling on the robot wrist, and use the coupling dowel pin to align parts.
2. Secure the gripper to the coupling.
3. Install the wrist connection protector (for e-Series only)
Caution
When no tooth lock washer is present, lock screws in place using medium strength threadlocker. Tooth lock washers provide
grounding for the casing of the gripper through the mounting screws. For more information, refer to the Electrostatic
Discharge Safety section.
Fig. 3-1: Installing Hand-E on the robot tool flange for CB-Series.
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