ROBOTIQ Hand-E Adaptive Gripper User manual

Robotiq Hand-E

for Universal Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq Hand-EGripper Instruction Manual

Revisions 4

1. General Presentation 8

1.1. Grippernomenclature 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 Toolsand Equipment 18

3.3. Environmental and Operating Conditions 19

3.4. Mechanical Installation 20

3.5. Electrical Setup 28

3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 33

3.7. InstallationforUniversal Robots 34

3.8. URCap Package 35

4. Control 44

4.1. Overview 44

4.2. GripperRegisterMapping 46

4.3. Robot Output Registers& Functionalities 47

4.4. Robot Input Registersand Status 49

4.5. Picking Features 53

4.6. Control LogicExample 56

4.7. ModbusRTU Communication 56

4.8. Hand-EGripperand I/O Coupling communication 70

4.9. Control over Universal Robots 71

5. Specifications 105

5.1. Technical dimensions 106

5.2. Mechanical Specifications 112

5.3. Electrical specifications 118

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Robotiq Hand-EGripper Instruction Manual

6. Maintenance 119

6.1. Grippercleaning 121

6.2. Periodicinspection 122

6.3. Rack& pinionmechanism cleaning 123

7. Spare Parts, Kitsand Accessories 125

8. Troubleshooting 130

8.1. Using the LED ofthe Hand-EGripper 130

8.2. Using the LED of the USBto RS485 converter 131

8.3. Using the Robotiq UserInterface (RUI) 131

8.4. Troubleshooting Universal RobotsModels 132

9. Warrantyand Patent 134

9.1. I/O Coupling Warranty 135

10. Harmonized Standards, Declarationsand Certificates 137

10.1. EC declarationof incorporation 137

10.2. Applied standards 138

10.3. IngressProtectionCertificate 139

11. License Agreement 140

12. Contact 143

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Robotiq Hand-EGripper Instruction Manual

Revisions

Robotiq maymodify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin

specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this

manual online at robotiq.com/support.

Revision2022/01/10

lPart number updated in the Scope of Delivery section

lSection "Mechanical Installation"

lAdded subsection "Installing Bin Picking Fingerson the Gripper"

Revision2021/07/01

lSection "Installation"

lAdded section 3.4.4"Installing Fingertip Extenderson the Gripper"

lUpdated figures3.1and 3.2

lUpdated subsection 3.4.1"Single Gripper Installation"

lSection "Specifications"

lUpdated subsection 5.1.3"FingertipsExtenders", maximum opening isnow 98 mm

lUpdated section 5.2.1

lUpdated section 5.2.3

lSection "Spare Parts, Kitsand Accessories"

lHand-ESKU isnow HND-GRP

Revision2020/05/28

lMinor Revision: modificationsto standardize our manuals

lSection "Warranty and Patent"

lCycle count isnow 5 000000.

lConsumable partsare now excluded of the warranty.

lSection "Specifications"

lUpdated subsection "Mechanical Specifications"

lUpdated subsection "Electrical Specifications"

lUpdated subsection "Technical Dimensions"

lSection "Harmonized Standards, Declarationsand Certificates"

lUpdated subsection "EC declaration of incorporation"

lUpdated subsection "Applied Standards"

Revision2019/12/19

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Robotiq Hand-EGripper Instruction Manual

lMajor Revision: fused sectionsthat were exclusive to e-Seriesor to CB-Series, to be displayed in asingle Instruction Manual

lRemoved Section 5: User Interface

lRemove sections"Retro-compatibility of URCapswith legacydriver programs"and "Control over Universal Robotswithout

URCaps"

lSection "Troubleshooting"

lRewrote section, formatted troubleshooting instructionsin tables

lAdded subsection "Troubleshooting with RUI"

lSection "Control"

lAdded subsection "Limiting your Gripper Force and Speed"

lAdded subsection "Visual Cuesof Force and Speed Limitation"

lRemoved subsectionswhich 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 dataon register and bitsin subsection "ModbusRTU Communication"

lSection "Installing URCap Package"

lCreated subsection "Activating aGripper Connected to the Robot Wrist"

lSection "Specifications"

lUpdated subsection "Fingersand Fingertips" with latest information on V-groove fingertips

lUpdated subsection "Mechanical Specifications"

Revision2019/10/10

lAdded section "Electrostatic Discharge Safety

Revision2019/07/04

lBasic gripper kitsnow include bydefault NBR overmolded fingers. Updated Specificationssection and Spare Parts, Kitsand

Accessoriessection

lAdded subsection Flat Rubber(NBR) Overmolded Fingersto Specificationssection

lModified Figure 3 from the General Presentation section.

lChangesto schematicsshown under subsectionsCoupling for PCD 60 with 4 xM5 (Figure 6-8)and Coupling forPCD 63 with 6 x

M6 (Figure 6-9).

Revision2019/05/17

lUpdated Environmental and Operating Conditions(Section 3.3)

Revision2019/03/13

lUpdated mechanical specifications(Section 6.2)

Revision2019/02/19

lUpdated Section 6to modify the grip force

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Robotiq Hand-EGripper Instruction Manual

Revision2018/09/11

lUpdated Section 3 according to the robot used (CB-Seriesvs. e-Series)

lUpdated Section 4

lInput & Output Registers

lControl over Universal Robotsdepending on the robot software used (PolyScope 3.6and later version vs. PolyScope 5.0and

later versions)

lAdded LED and move functionsto the list of available functions

lUpdated Section 8 with new spare parts, kitsand accessories

Revision2018/05/24

lOfficial release

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Robotiq Hand-EGripper Instruction Manual

Copyright

Thismanual and the product it describesare protected by the Copyright Act of Canada,by lawsof 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 includestranslation into another language or format.

Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed

by Robotiq for itsuse. There maybe some differencesbetween the manual and the product if the product hasbeen modified after

the edition date.

The information contained in thisdocument issubject to change without notice.

7

1.General Presentation

The terms"Gripper", "Robotiq Gripper","Hand-EGripper" and "Hand-E" used in thismanual are used interchangeably to

designate the "Robotiq Hand-EGripper".The Robotiq Hand-EGripper isarobotic peripheral designed for industrial applications.

It isaunique robotic end-of-arm tool designed to quickly pick, place and handle partsin a broad range of sizesand shapes.

Info

Thismanual usesthe metric system. Unlessotherwise specified, all dimensionsare in millimeters.

Info

The following section presentsthe keyfeaturesof the Gripper and must not be considered asappropriate to Gripper

operation, each feature isdetailed in the appropriate section of the manual. Safety guidelinesmust be read and

understood before anyoperation isattempted with the Gripper.

Robotiq Hand-EGripper Instruction Manual

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Robotiq Hand-EGripper Instruction Manual

1.1.Gripper nomenclature

The Hand-EGripper isaparallel gripper. Itstwo fingersare actuated by a single motor.

Fig. 1-1: Robotiq Hand-EGripper.

Please refer to the Scope of Deliverysection and Spare Parts, Kitsand Accessoriessection for detailson standard and optional

parts. The Hand-Ebasic gripper unit includesflat aluminum fingersovermolded with NBR.

The statusLED presented in the figure above will be :

lsolid blue/red when booting

lsolid blue when powered with no errors(while communication isactive)

lsolid red if minor fault occurs, see statusdetailsin the Control section.

lblinking red/blue if major fault occurs, see statusdetailsin the Control section.

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Robotiq Hand-EGripper Instruction Manual

The user can install fingersdirectlyon the racks, or fasten fingertipsto fingertip holders, which are in turn installed on the racks.

Refer to the Installing the Gripperonthe Robot section for more information on how to integrate custom fingersand fingertipsto

Hand-E.

Fig. 1-2: Mounting a finger on a rack.

When ordered asakit (please refer to the Scope of Deliverysection), a fingertip starting kit isincluded (please refer to the Spare

Parts, Kitsand Accessoriessection). These fingertipsshould be mounted onto fingertip holders.

Fig. 1-3: Mounting a fingertip on a fingertip holder (example).

Tip

You can customize fingersand fingertips. Mount custom fingerson racks, and fingertipson fingertip holders.

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Robotiq Hand-EGripper Instruction Manual

1.2.Object picking

The Hand-EGripper hasasingle actuator for opening and closing the fingers. It also allowsinternal gripping. The fingerscan pick

hollow partsfrom the inside byapplying pressure with the outer surface of the fingers.

See the figure below for a representation and refer to the Picking Featuressection for detailson avaible position commandsfor

your gripper.

Fig. 1-4: Hand-EGripper internal and external gripping.

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Robotiq Hand-EGripper Instruction Manual

1.3.Setup and control

The Gripper ispowered and controlled directly via a single device cable that carriesa24VDC supply and ModbusRTU

communication over RS-485. Refer to the Electrical Setup section for wiring information and the Control section for control of the

gripper (software packagesare available for control viasome typesof robot controllers).

A gripper coupling isrequired 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 Specificationssection for technical drawings, and to the

Spare Parts, Kitsand Accessoriessection for available couplings.

The Hand-EGripper hasan embedded object detection feature using indirect sensing methods. When picking an object with the

"go to" command, the gripper statuswill allow you to know if an object ispicked or not viaa simple object detection bit (0or 1).

When an object isdetected, the gripper will stop. If the object isbeing dropped, the gripper will automatically close to keep the

object until the object isdetected or until the position target from the "go to" command isreached. For detailson object

detection, see the Control section.

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2.Safety

Warning

The operator must have read and understood all of the instructionsin the following manual before handling the Robotiq

Hand-EGripper.

Info

The term "operator" refersto anyone responsible for anyof the following operationson the Robotiq Hand-EGripper:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

Thisdocumentation explainsthe variouscomponentsof the Robotiq Hand-EGripper and general operationsregarding the whole

life-cycle of the product from installation to operation and decommissioning.

The drawingsand photosin thisdocumentation are representative examples; nonetheless, discrepanciesmay be observed

between those and the delivered product.

Robotiq Hand-EGripper Instruction Manual

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Robotiq Hand-EGripper Instruction Manual

2.1.Warning

Caution

Any use of the Gripper in noncompliance of these warningsisinappropriate and may cause injury or damage.

Warning

lThe Gripper needsto be properly secured before operating the robot.

lDo not install or operate a Gripper that isdamaged or lacking parts.

lNever supplythe Gripper with an alternative current source.

lMake sure all cord setsare alwayssecured at both ends, at the Gripper and at the robot.

lAlwaysmeet the recommended keying for electrical connections.

lMake sure no one isin the robot and/or Gripper path before initializing the robot'sroutine.

lAlwaysmeet the Gripper'spayload specifications.

lSet the Gripper'spinch force and speed accordingly, based on your application.

lKeep fingersand clothesawayfrom the Gripper while the power ison.

lDo not use the Gripper on people or animals.

lFor welding applications, make sure there are no Gripper partson the ground path of the welding power source.

2.1.1.Riskassessment and final application:

The Robotiq Hand-EGripper ismeant to be used on an industrial robot. The robot, Gripper and anyother equipment used in the

final application must be evaluated with a risk assessment. It isthe robot integrator'sduty to ensure that all local safety measures

and regulationsare met. Depending on the application, there may be risksthat require additional protection/safety measures, for

example, the work-piece the gripper ismanipulating might be inherently dangerousto the operator.

2.2.Intended Use

The gripper unit isdesigned for gripping and temporarily securing or holding objects.

The product isintended for installation on a robot or other automated machinery and equipment.

Info

Alwayscomplywith local and/or national laws, regulationsand directiveson automation safety and general machine

safety.

The unit should be used exclusively within the range of itstechnical data. Any other use of the product isdeemed improper and

unintended use. Robotiq will not be liable for anydamagesresulting from any improper or unintended use.

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3.Installation

The following subsectionswill guide you through the installation and general setup of your Robotiq Hand-EGripper.

lThe Scope of Deliverysection

lThe Required Toolsand Equipment section

lThe Environmental and Operating Conditionssection

lThe Mechanical Installation section

lThe Electrical Setup section

lThe Testing the Gripperwiththe Robotiq User Interface (RUI)section

lThe Installation for Universal Robotssection

lThe URCap Package section

Warning

Before installing:

lRead and understand the safety instructionsrelated to the Hand-EGripper.

lVerifyyour package according to the scope of deliveryand your order.

lHave the required parts, equipment and toolslisted in the requirementsreadily available.

Warning

When installing:

lMeet the recommended environmental conditions.

lDo not operate the Gripper, or even turn on the power supply, before it isfirmlyanchored and the danger zone is

cleared. The fingersof the gripper maymove and cause injury or damage.

Robotiq Hand-EGripper Instruction Manual

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Robotiq Hand-EGripper Instruction Manual

3.1.Scope of Delivery

Caution

The following isnot included aspart of a standard delivery:

lOptionssuch asadapter platesor couplingsfor mounting on variousindustrial robots, fingertipsor finger pads.

lHardware required for options; accessoriesor fixturesfor the gripper, unlessspecified.

lPower supply units, power supply wiring or fuses.

Info

When bought asa kit, the gripper will come in a package with the appropriate coupling, fingers/fingertipsand cabling.

Please refer to the Spare Parts, Kitsand Accessoriessection.

3.1.1.Robotiq Hand-EGripper UR Standard Kit

Standard upondeliveryfor CBSeriesand e-Series

lRobotiq Hand-Ebasic gripper unit (HND-GRP)

lHand-Egripper

lHand-ENBR overmolded aluminum fingerskit

lScrew kit

lUSBstick

lHand-EFingertip 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-2065-10-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, Kitsand Accessoriessection section for alist of available couplings.

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Robotiq Hand-EGripper Instruction Manual

3.1.2.URWrist connectionKit forCB-Series

Hand-EWrist ConnectionKit forCB-Series(HND-UR-KIT-W)

Standard upon delivery

lRobotiq Hand-Ebasic gripper unit (HND-GRP)

lHand-Egripper

lHand-ENBR overmolded aluminum fingerskit

lScrew kit

lUSBstick

lHand-EFingertip 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-USBto USB cable

lUSBstick

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Robotiq Hand-EGripper Instruction Manual

3.2.Required Toolsand Equipment

The following toolsare required to install the Hand-EGripper:

l4 mm hex keyto mount the gripper onto itscoupling .

lMetric hex key according to your coupling to mount the coupling onto the robot.

l3 mm hex keyto install the wrist connection protector (on e-Seriesonly)

Optional toolsif installing fingertip/holder kits: HND-FIN-ALU-KIT,HND-TIP-VGR-KIT or HND-TIP-HLD-KIT

l2,5mm hex key

The gripper needsto be supplied by aDC voltage source. Thispower supply isnot included with the gripper. Required power

supplymust match the Robotiq device.The following table showsthe specificationswith regardsto the power supplyrequired to

operate the gripper and the optional Robotiq Controller.

SPECIFICATION VALUE

Output voltage 24 VDC ±10%

Output current 1A

Overcurrent Recommended power supply with internal protection, otherwise fusing

isrequired.

2 A fuse at 25°C [77°F]1

Table 3-1: Hand-Epower supplyrequirements.

Info

1Suggested fuse isa: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring.

Warning

If your power supply could exceed the specified regulation, over-voltage protection isrequired.

Robotiq recommendsthe use of the following power supplies:

lFor the 1A output current: TDK-Lambda DPPSeries, 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-EGripper Instruction Manual

3.3.Environmental and OperatingConditions

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

IPRating IP67

Other

lFree from corrosive liquidsor gases

lFree from explosive liquidsor gases

lFree from powerful electromagnetic interference

Table 3-2: Environmental and operating conditionsof the Hand-EGripper.

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Robotiq Hand-EGripper Instruction Manual

3.4.Mechanical Installation

3.4.1.Installing the Gripperonthe Robot

Single GripperInstallation

Instructions

You must use a coupling to attach the gripper on the robot. Here are the stepsto follow to mount the gripper on the robot

(exploded viewsin 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-Seriesonly)

Caution

When no tooth lock washer ispresent, lock screwsin 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

ElectrostaticDischarge Safetysection.

Fig. 3-1: Installing Hand-Eon the robot tool flange for CB-Series.

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ROBOTIQ Hand-E Adaptive Gripper User manual

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