ROBOTIQ HAND-E User manual

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

Robotiq Hand-E gripper Instruction Manual
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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 13
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.2. Required Tools and Equipment 16
3.3. Environmental and Operating Conditions 17
3.4. Mechanical Installation 18
3.5. Electrical Setup 22
4. Control 24
4.1. Overview 24
4.2. Gripper Register Mapping 26
4.3. Robot Output Registers andFunctionalities 27
4.4. Robot Input Registers andStatus 29
4.5. Picking Features 33
4.6. Control Logic Example 35
4.7. Modbus RTUCommunication 35
5. Specifications 48
5.1. Technical dimensions 48
5.2. Mechanical Specifications 61
5.3. Electrical specifications 68
6. Maintenance 69
6.1. Gripper cleaning 70
6.2. Periodic inspection 71
6.3. Rack &pinion mechanism cleaning 72
7. Spare Parts, Kits and Accessories 73
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Robotiq Hand-E gripper Instruction Manual
8. Troubleshooting 76
8.1. Using the LEDof the Hand-E gripper 76
8.2. Using the LED of the USB to RS485 converter 77
8.3. Using the Robotiq User Interface (RUI) 77
9. Warranty andPatent 78
10. Harmonized Standards, Declarations and Certificates 79
10.1. Translation of original EC declaration of incorporation 79
10.2. Applied standards 80
10.3. Ingress Protection Certificate 81
11. Contact 82
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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 2019/12/19
lOfficial release
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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 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.
Note
This 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 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. Note that these fingers are not shown in Figure 1.1:
Robotiq Hand-E gripper.
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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 Mounting Hand-E 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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