ROBOTIQ Hand-E Adaptive Gripper User manual

Robotiq Hand-E

forHanwhaRobots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq Hand-EGripper Instruction Manual

Revisions 4

1. General Presentation 7

1.1. Grippernomenclature 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 Toolsand Equipment 16

3.3. Environmental and Operating Conditions 17

3.4. Mechanical Installation 18

3.5. Electrical Setup 21

3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 23

3.7. InstallationforHanwha Robots 25

4. Control 27

4.1. Overview 27

4.2. GripperRegisterMapping 29

4.3. Robot Output Registers& Functionalities 30

4.4. Robot Input Registersand Status 32

4.5. Picking Features 36

4.6. Control LogicExample 39

4.7. ModbusRTU Communication 39

4.8. Control Over Hanwha Using the Plugin 53

5. Specifications 57

5.1. Technical dimensions 58

5.2. Mechanical Specifications 64

5.3. Electrical specifications 70

6. Maintenance 71

6.1. Grippercleaning 73

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Robotiq Hand-EGripper Instruction Manual

6.2. Periodicinspection 74

6.3. Rack& pinionmechanism cleaning 75

7. Spare Parts, Kitsand Accessories 77

8. Troubleshooting 81

8.1. Using the Robotiq UserInterface (RUI) 81

9. Warrantyand Patent 82

10. Harmonized Standards, Declarationsand Certificates 85

10.1. EC declarationof incorporation 85

10.2. Applied standards 86

10.3. IngressProtectionCertificate 87

11. Contact 88

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Robotiq Hand-EGripper Instruction Manual

Revisions

Robotiq may modify 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 Deliverysection

Revision2021/07/01

lSection "Installation"

lAdded section 3.4.4"Installing Fingertip Extenderson the Gripper"

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 "Warrantyand 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

lSection "Control"

lRevised dataon register and bitsin subsection "ModbusRTU Communication"

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Robotiq Hand-EGripper Instruction Manual

lSection "Specifications"

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

lUpdated subsection "Mechanical Specifications"

lSection "Spare Parts, Kitsand Accessories"

lUpdated Itemsin tables.

lRemoved Section 5: User Interface

Revision2019/12/18

lSection "Control"

lRevised dataon register and bitsin subsection "ModbusRTU Communication"

lSection "Specifications"

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

lUpdated subsection "Specifications"

Revision2019/10/10

lAddition of the Electrostatic Discharge Safety section

Revision2019/05/17

lFirst publication of the Instruction Manual.

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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.

6

1.General Presentation

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

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

It isaunique robotic end-of-arm tool designed to quicklypick,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 isa parallel gripper. Itstwo fingersare actuated by asingle 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 fingersdirectly on 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 afingertip 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 by applying 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 asingle device cable that carriesa 24VDC 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).

Info

Robotiq Universal Controller isavailable when industrial communication protocolsare required (other then ModbusRTU

over serial).

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, discrepanciesmaybe 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 maycause injury or damage.

Warning

lThe Gripper needsto be properlysecured before operating the robot.

lDo not install or operate aGripper 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.Risk assessment and final application:

The Robotiq Hand-EGripper ismeant 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 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 inherentlydangerousto 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 safetyand general machine

safety.

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

unintended use. Robotiq will not be liable for any damagesresulting from anyimproper 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 forHanwha Robotssection

Warning

Before installing:

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

lVerifyyour package according to the scope of delivery and 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 may move 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 HanwhaKit

Standard upon delivery

lRobotiq Hand-Ebasic gripper unit (HND-GRP)

lHand-Egripper

lHand-ENBR overmolded aluminum fingerskit

lScrew kit

lHand-EFingertip Starting Kit (HND-TIP-START-KIT)

lUSB to RS485 signal converter (ACC-ADT-USB-RS485)

lCoupling for connection to the robot controller (GRP-CPL-062)

Info

See the Spare Parts, Kitsand Accessoriessection section for alist of available couplings.

lRobotiq device cable (CBL-COM-2065-10-HF)

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 Hand-EGripper, unlessspecified.

lPower supply units, power supply wiring or fuses.

Info

When bought asa kit, the Hand-EGripper will come in a package with the appropriate coupling, fingers/fingertipsand

cabling. Please refer to the Spare Parts, Kitsand Accessoriessection.

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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 key to mount the gripper onto itscoupling .

lMetric hexkeyaccording to your coupling to mount the coupling onto the robot.

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.

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

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Robotiq Hand-EGripper Instruction Manual

3.4.2.Installing Fingersonthe Gripper

If you need to change the fingers, follow the instructionsbelow.

1. Align the finger dowel pin with the finger dowel hole.

2. Applylow strength threadlocker on the provided screwsand secure the finger to the rack.

3. Repeat for the second finger, if necessary.

Fig. 3-2: Mounting fingerson racks.

3.4.3.Installing Fingertipsand Holdersonthe Gripper

If you need to change the fingertipsand holders, follow the instructionsbelow.

1. Align the fingertip holder dowel pin with the rack dowel hole.

2. Applylow strength threadlocker on the provided screwsand secure the fingertip holder to the rack.

3. Align the fingertip dowel pin with the fingertip holder dowel hole.

4. Applylow strength threadlocker on the provided screwsand secure the fingertip to the fingertip holder.

5. Repeat for the second fingertip, if necessary.

Fig. 3-3: Mounting fingertipson holders, and holderson racks.

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Robotiq Hand-EGripper Instruction Manual

3.4.4.Installing Fingertip Extendersonthe Gripper

If you need to add extendersto the Gripper, follow the instructionsbelow.

1. Align the extender dowel pin with the rackdowel hole.

2. Applylow strength threadlocker on the provided M3 screwsand secure the extender to the rack (0.50Nm / 4.40 in-lb).

3. Align the fingertip dowel pinswith extender dowel holes.

4. Applylow strength threadlocker on the provided M5 screw and secure the fingertip to the extender (5.65 Nm / 50.00in-lb).

5. Repeat for the second fingertip if necessary.

Fig. 3-4: Mounting extenderson fingers, and extenderson racks.

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ROBOTIQ Hand-E Adaptive Gripper User manual

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