ROBOTIQ HAND-E User manual

1.WHAT IS SUPPLIED?
Standard upon delivery of a OMRON TM Series kit:
(HND-GRP-001)
(GRP-CPL-062)
(AGC-TIP-204-002)
(CBL-COM-2065-10-HF)
(ACC-ADT-RS232-RS485)
(ACC-ADT-USB-RS485)
Hand-E Adaptive Gripper
Gripper Coupling
Fingertip Starting Kit
High-Flex Device Cable
RS232 to RS485 Adapter
USB to RS485 Adapter
USB Stick
Necessary Hardware
2.TOOLS YOU NEED
5.WIRING
4.MOUNTING
This step-by-step guide will allow you to install and use
your Hand-E on OMRON TM Series robots.
3.GET THE LATEST
BEFORE OPERATING THE GRIPPER,
PLEASE READ INSTRUCTION MANUAL.
• Mount the coupling (GRP-CPL-062) on your robot arm. Align
with the provided dowel pin*.
• Fix using the provided M6 screws (use of threadlocker is
recommended).
• Mount the Gripper (HND-GRP-001) on the coupling. Align
with the dowel pin*.
• Fix using the provided M5 screws and lock washers.
• Plug the device cable (CBL-COM-2065-10-HF) into the Gripper’s
pigtail and x the cable along the robot arm using a cable
routing system.
THANK YOU FOR CHOOSING
ROBOTIQ
LEAVE ENOUGH EXCESS CABLE TO ALLOW
FULL ROBOT MOVEMENT.
4 mm
Hex Key
2 mm
Slotted Screwdriver
!!
• Go to support.robotiq.com.
• Select Omron TM, Hand-E Adaptative Gripper, Software, Gripper
Software.
• Download the TM Plug & Play Software Package.
• Decompress the package at the root of a USB storage device and
rename the USB device“TMROBOT”.
• The red (24V) and black (0V) wires of the device cable
(CBL-COM-2065-10-HF) provide power to the Gripper.
• Connect the red wire to a 24V slot.
• Connect the black wire to 0V slot.
• Connect the communication wires in the RS232 signal
converter (ACC-ADT-RS232-RS485) as shown below.
• Connect the RS232 end of the signal converter to a COM port
of the robot controller.
(CBL-COM-2065-10-HF)
(Gripper)
(M5 screws)
(M6 screws)
(Gripper coupling)
(Dowel pin*)
CAREFUL !
FRAGILE PINS
*The dowel pin is meant to have a tight t on the robot side and a
slip t on the eector side of the assembly.

HAND-E
ADAPTIVE GRIPPERS
QUICK START GUIDE
[email protected]
T: 1.418.380.2788 option 3
May 2019
V1.1
support.robotiq.com
New product has a 1-year warranty from the shipping date.
Refer to your product instruction manual for details.
For installation on
OMRON TM Series
collaborative robots
6. SOFTWARE INSTALLATION
• Turn on the robot and log in to TM Flow.
• Connect the USB device that contains the Components in the
robot controller.
• Take control of the robot, tap the triple bar icon and select
System Settings.
• Click on Import/Export.
• Click on the Import button, select TMComponent in the Robot
List menu and click OK.
• Select the les to import in the list on the left and click on the
Send button.
• Turn on the robot and log in to TM Flow.
• Connect the USB device that contains the Components in the
robot controller.
• Take control of the robot, tap the triple bar icon and select
System Settings.
• Click on Import/Export.
• Click on the Import button, select TMComponent in the Robot
List menu and click OK.
• Select the les to import in the list on the left and click on the
Send button.
• Tap the triple bar icon and select Robot Setting.
• Enable the appropriate Components by clicking on the radio
buttons and click on the Save button.
7. GRIPPER BUTTON
CONFIGURATION
• In the TM Flow robot software, tap the triple bar icon and select
the Setting icon.
• Click on Gripper Button.
• In the Gripper Button window, tick the Using
Customized Component radio button.
• Select the Component you want to assign to either one of the
Gripper actions.
• In the popup window, select or change the Component your
wish to assign to the Gripper action/button.
• Click OK.
Follow the indications below to assign Gripper commands to the
Gripper button found on the robot camera mounted on the
robot wrist.
8. USE COMPONENTS TO PROGRAM
WITH THE GRIPPER
• From the TM Flow homepage, tap the triple bar icon and
select the Project icon.
• Locate the Gripper Components in the navigation pane on
the left side of the screen.
• Click on the program Component after which you wish to
insert a Gripper Component.
• Drag and drop the desired Gripper Component under the
highlighted Component.
Edit button Delete button
• For advanced parameters, click on the Edit button (pencil
icon) in the upper left corner of the Component; the
Components menu will pop up.
Opens Component
cheat sheet
Displays Component
subsettings