ROBOTIQ HAND-E Instruction Manual
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ROBOTIQ HAND-E Instruction Manual

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

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  • Page 1 Original Notice © 2019. Robotiq, Inc. Robotiq Hand-E for Universal Robots robotiq.com | leanrobotics.org Instruction Manual...
  • Page 2 Robotiq Hand-E gripper Instruction Manual...
  • Page 3 3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4. Mechanical Installation 3.5. Electrical Setup 3.6. Testing the Gripper with the Robotiq User Interface (RUI) 3.7. Installation for Universal Robots 3.8. URCap Package 4. Control 4.1. Overview 4.2.
  • Page 4 6.3. Rack & pinion mechanism cleaning 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. Using the LED of the Hand-E gripper 8.2. Using the LED of the USB to RS485 converter 8.3. Using the Robotiq User Interface (RUI) 8.4. Troubleshooting Universal Robots Models 9.
  • Page 5 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.
  • Page 6 Control over Universal Robots depending on the robot software used (PolyScope 3.6 and later version vs. PolyScope 5.0 and later versions) Added LED and move functions to the list of available functions Updated Section 8 with new spare parts, kits and accessories Revision 2018/05/24 Official release Robotiq Hand-E gripper Instruction Manual...
  • Page 7 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.

  • Page 8: 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.
  • Page 9 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.
  • Page 10 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.
  • Page 11 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.

  • Page 12: Setup And Control

    (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 Technical dimensions section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings.
  • Page 13 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:...

  • Page 14: Intended Use

    Risk assessment and final application: The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the final application must be evaluated via a thorough risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are met.

  • Page 15: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Hand-E gripper. Warning Before installing: Read and understand the safety instructions related to the Hand-E gripper. Verify your package according to the scope of delivery and your order.

  • Page 16: Scope Of Delivery

    Power supply units, power supply wiring or fuses. Info When bought as a kit, the Hand-E 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...
  • Page 17 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 Robotiq Hand-E basic gripper unit (HND-GRP-001) Hand-E gripper Hand-E NBR overmolded aluminum fingers kit Screw kit USB stick Hand-E Fingertip Starting Kit (HND-TIP-START-KIT) I/O Coupling Kit (IO-CPL-UR-CB-KIT) :...

  • Page 18: Required Tools And Equipment

    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.

  • Page 19: Environmental And Operating Conditions

    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) Maximum vibration (operating) IP Rating IP 67 Table 3-2: Environmental and operating conditions of the Hand-E gripper. Robotiq Hand-E gripper Instruction Manual...

  • Page 20: Mechanical Installation

    3. Install the wrist connection protector (for e-Series only) Caution When no toothlock washer is present, lock screws in place using medium strength threadlocker. Fig. 3-1: Installing Hand-E on the robot tool flange for CB-Series. Robotiq Hand-E gripper Instruction Manual...
  • Page 21 Fig. 3-2: Installing Hand-E on the robot tool flange for e-Series. Robotiq Hand-E gripper Instruction Manual...
  • Page 22 Robots CB-Series tool flange. It removes the need of any cable management and avoids downtime caused by cable issues. Depending on the robot tool I/Os, the I/O Coupling will send the selected presets to the Robotiq Hand-E gripper to allow its full programming.
  • Page 23 Firmware Update Warning A Gripper firmware update is required to use your Hand-E Gripper with the I/O Coupling. Make sure you have the GD1- 1.3.16 version installed, or the latest. 1. Connect the Hand-E Gripper to your PC via the I/O Coupling using the USB cable.
  • Page 24 You can now use your Gripper with the four (4) factory presets on the I/O Coupling. You can also program and save your own presets by connecting the I/O Coupling to your PC using the USB cable. To do so, refer to the Robotiq User Interface Manual available at robotiq.com/support.
  • Page 25 2. Mount the grippers' couplings on the mounting plate using the provided M6 X 12mm screws and toothlock washers. 3. Mount the grippers onto the coupling using the provided M5 X 25 mm screws and toothlock washers. Fig. 3-5: Dual Hand-E Gripper Configuration (CB-Series and e-Series) For e-Series: 1.
  • Page 26 3.4.2. Mounting fingers, fingertips and holders on Hand-E The figures below list the material needed to mount fingers or fingertips/holders onto the racks of the Hand-E gripper. Fig. 3-7: Mounting fingers on racks. Fig. 3-8: Mounting fingertips on holders, and holders on racks.

  • Page 27: Electrical Setup

    Robotiq Hand-E Gripper is not ESD safe. If installed properly using the toothlock washers, the casing and internal mechanism are grounded through the screws used to mount the gripper on the coupling. The same is true for the coupling. For the Hand-E Gripper, the top part mounted on the casing using 6 screws, the fingertips and rails are isolated from the rest of the gripper.
  • Page 28 Always protect the controller side (robot side) connector of the cable with a strain relief cable clamp. The figure below illustrates the Hand-E gripper pigtail connector from the coupling (GRP-CPL-062 or AGC-CPL-XXX-002), the device cable on the robot side (CBL-COM-2065-10-HF) and their associated pinout.
  • Page 29 3.5.5. Coupling to Wrist for e-Series Single Gripper The figure below represents the wiring schematic of Hand-E with a coupling connecting directly to the robot wrist. Fig. 3-10: Robotiq Hand-E with device cable wiring scheme Robotiq Hand-E gripper Instruction Manual...
  • Page 30 Gripper on the robot arm, and a splitter. Please refer to the Spare Parts, Kits and Accessories section for more details. Robotiq Hand-E gripper Instruction Manual...
  • Page 31 3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq Hand-E gripper should be tested with the Robotiq User Interface test software using the provided USB converter. Follow these instructions. Install the Robotiq User Interface (RUI). For details, see the Robotiq User Interface, available from robotiq.com/support.

  • Page 32: Installation For Universal Robots

    3.7. Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Hand-E gripper URCaps Package. Controller Controller...
  • Page 33 Software > Gripper Software > DOWNLOAD ZIP. Mount Hand-E gripper on tool flange. For details on installation, see section Mechanical Installation section. Before installing the URCap package, make sure your Universal Robots controller is compatible with the package (see section Installation for Universal Robots section).
  • Page 34 3.8.1. Installing URCap Package Make sure the Hand-E gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section).
  • Page 35 Restart PolyScope to complete the URCap installation. By doing so, you accept the License Agreement that is detailed in the URCap information text box (please refer to the License Agreement section below). When PolyScope reopens, the Gripper toolbar will appear on the screen. Robotiq Hand-E gripper Instruction Manual...
  • Page 36 Universal Robots controller is compatible with the Gripper's URCap package. Go to support.robotiq.com and click on the Hand-E product page. Download the corresponding URCap and extract it on the root of a blank USB stick. Insert the USB stick in the UR teach pendant or controller.
  • Page 37 When connecting a gripper to the robot wrist connector, you need to manually set it up in PolyScope. Otherwise, your gripper will not be activated. Follow these instructions. 1. Mechanically mount your gripper on your robot. For details, see the Mounting Hand-E on the Robot section 2. Go to Installation > URCaps > Gripper > Dashboard.
  • Page 38 Caution Connect only one gripper at a time using the splitter (refer to the Mounting Hand-E on the Robot section and the Electrical Setup section for details instructions). After a gripper has been identified by PolyScope, disconnect it and repeat the installation procedure for each additional gripper.
  • Page 39 1. Once all grippers ID have been set, connect them all to the splitter. 2. Go back to the Dashboard tab, and confirm that all grippers are recog- nized and can be controlled. Tap E-Open and E-Close to jog each grip- per. Robotiq Hand-E gripper Instruction Manual...
  • Page 40 3.8.2. Uninstalling URCap Package If you wish to uninstall the Hand-E gripper URCap, follow this procedure: For CB-Series Go to Setup Robot. Tap URCaps Setup. In the Active URCaps text box, tap the Gripper URCap. The Gripper URCap should be highlighted.
  • Page 41 Tap the System button in the navigation pane on the left. Select URCaps in the dropown list. Select the URCap to uninstall. Press the minus (-) button to remove the URCap. Tap the Restart button to deactivate the URCap. Robotiq Hand-E gripper Instruction Manual...

  • Page 42: License Agreement

    1.4 hereof including their modifications and upgrades and their related materials; c. “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced man- ufacturing and sale of robotic products (the “Licensor’s Business”);...
  • Page 43 Agreement due for performance on the date of termination shall survive the termination, and the party terminating shall not be liable to the other party for any damages arising out of the termination. Robotiq Hand-E gripper Instruction Manual...
  • Page 44 The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soi- ent rédigés en anglais seulement. Robotiq Hand-E gripper Instruction Manual...
  • Page 45 Select product > Hand-E Adaptive Gripper > [any robot brand] > Software > Robotiq User Interface > DOWNLOAD ZIP. Since the Robotiq Hand-E gripper has its own embedded controller, you can use high-level commands such as "Go to requested position" to control it.
  • Page 46 (read) register status. The figure below is a representation of the memory and the control logic of the Gripper. For details, see the Control Logic Example section Fig. 4-1: Hand-E control logic overview Robotiq Hand-E gripper Instruction Manual...

  • Page 47: Gripper Register Mapping

    ACTION REQUEST GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT Byte 6 to 15 RESERVED RESERVED Table 4-1: Registers of the Hand-E gripper. Robotiq Hand-E gripper Instruction Manual...
  • Page 48 Gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit overrides all other commands excluding the activation bit (rACT). 0x0 - Normal. 0x1 - Emergency auto-release. Robotiq Hand-E gripper Instruction Manual...
  • Page 49 The activation will allow the Gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the fingers/fingertips, 0 will always be fully opened and 245 fully closed, with a quasi-linear relationship between the two values. Robotiq Hand-E gripper Instruction Manual...
  • Page 50 4.4. Robot Input Registers and Status 4.4.1. Register: GRIPPER STATUS Address: Byte 0 Bits Symbols gOBJ gSTA gGTO Reserved gACT gACT Activation status, echo of the rACT bit (activation bit). 0x0 - Gripper reset. 0x1 - Gripper activation. Robotiq Hand-E gripper Instruction Manual...
  • Page 51 Checking for the correct position of the fingers (byte 4), as well as object detection (byte 0, bit 6 & 7) before proceeding to the next step of a routine is a more reliable method than object detection or finger position alone. 4.4.2. Register: RESERVED Address: Byte 1 Bits Symbol Reserved Robotiq Hand-E gripper Instruction Manual...
  • Page 52 0x0D - Activation fault, verify that no interference or other error occurred. 0x0E - Overcurrent triggered. 0x0F - Automatic release completed. Info While booting, status LED will be solid blue/red. kFLT See your optional controller manual (input registers and status). Robotiq Hand-E gripper Instruction Manual...
  • Page 53 The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA. Built-in features like object detection and force control use the fingers' electrical current readings. The user does not need to create these features. Robotiq Hand-E gripper Instruction Manual...

  • Page 54: Force Control

    Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost / dropped. Info While your initial settings for force and speed are not used for Re-grasp, they will never be eceeded to prevent damaging the part. Robotiq Hand-E gripper Instruction Manual...

  • Page 55: Object Detection

    4.5.4. Brake engagement Hand-E is equipped with a brake that engages at the end of every gripper move, and disengages between moves. For instance, when fully closing on an object, the Gripper touches the object, activates the brake, and sends the object detection signal to the robot.

  • Page 56: Control Logic Example

    Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the most significant byte first. However, the data port is in the case of Robotiq products based on the Little Endian byte order.
  • Page 57 Modbus register(0x07D0) is composed from the first 2 Robotiq Gripper bytes (byte 0 and byte 1). Info 200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send commands with a minimum delay of 5 ms between them.

  • Page 58: Read Input Registers (Fc04)

    Request is: 09 04 07 D0 00 02 70 0E Bits Description SlaveID Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0002 Number of registers requested (2) 700E Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...

  • Page 59: Preset Multiple Registers (Fc16)

    Number of registers written to Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 60E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA EC7C Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...
  • Page 60 Number of registers written to (2) Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes) 00E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA 2D0C Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...

  • Page 61: Modbus Rtu Example

    Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 0000 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Robotiq Hand-E gripper Instruction Manual...
  • Page 62 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate 0100 Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 72E1 Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...
  • Page 63 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1 for 1100 "Activation in progress" Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...
  • Page 64 Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/255 for full 00FF closing of the Gripper FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 4229 Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...
  • Page 65 "Go to Position Request" and gOBJ = 0 for "Fingers are in motion" Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells 00FF that the command was well received and that the GRIPPER STATUS is valid. Robotiq Hand-E gripper Instruction Manual...
  • Page 66 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate 0900 Gripper", rGTO = 1 for "Go to Requested Position" Robotiq Hand-E gripper Instruction Manual...
  • Page 67 Request is: 09 04 07 D0 00 03 B1 CE Bits Description SlaveID Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) B1CE Cyclic Redundancy Check (CRC) Robotiq Hand-E gripper Instruction Manual...
  • Page 68 Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached 0D00 their software limit) 17AA Cyclic Redundancy Check (CRC) Step 9: To grip additional objects, loop from step 3. Robotiq Hand-E gripper Instruction Manual...
  • Page 69 The whole sequence can not exceed 5 seconds The Robotiq Hand-E Gripper must be connected to the I/O Coupling. The I/O Coupling detection of the Gripper has to be con- firmed (led blue) before doing the sequence, otherwise it will not be valid.
  • Page 70 A Gripper firmware update is required to use your Hand-E gripper with the I/O Coupling. Make sure you have the GD1-1.3.16 version installed or the latest. If an update is necessary on the I/O Coupling or the Hand-E gripper, the Robotiq User Interface (RUI) will warn you and request the execution.
  • Page 71 Fig. 4-3: Program Structure Editor. Multiple Wrist nodes are available. The Wrist connection Activation node will activate the device in the program. Fig. 4-4: Wrist Connection Activation Interface. Robotiq Hand-E gripper Instruction Manual...
  • Page 72 The Wrist Grip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the object is not detected. Fig. 4-6: Wrist Grip Check Node Interface. Robotiq Hand-E gripper Instruction Manual...
  • Page 73 Fig. 4-7: Wrist Connection Toolbar Interface. To make sure to operate the Gripper, set the voltage at 24V: Click on the I/O tab. In the Tool Output section, select Robotiq_Wrist_connection on the Controlled by drop down menu. Robotiq Hand-E gripper Instruction Manual...
  • Page 74 Tap the Gripper button. Select the Dashboard tab. If the Gripper is connected to the robot wrist (and not to the robot controller or via a Robotiq Wrist Camera) tick the "Gripper cable is connected to the wrist box. If no Gripper is found, tap the Scan button to detect any Gripper that might be connected to the robot Tap the Activate/Reactivate button.
  • Page 75 If no Gripper is found, tap the Scan button to detect any Gripper that might be connected to the robot Tap the Activate button Fig. 4-10: Gripper Dashboard (steps highlighted) If required, change the ID of the Gripper; ID numbers range from 1 to 4 Robotiq Hand-E gripper Instruction Manual...
  • Page 76 Installation tab, tap this button to access the Gripper Dashboard. The Activate and Reactivate buttons enables the Activate/Reactivate corresponding Gripper. Gripper status: One or the other of these icons is Not activated/Activated displayed next to the corresponding Gripper icon. Robotiq Hand-E gripper Instruction Manual...
  • Page 77 4. To set a maximum opening/closing speed for your grippers (noted as a percentage of its default speed), select the box next to the "Maximum Speed" field, and enter a value. You can also limit grip strength by setting a value under field "Maximum force". Values are set, tap Lock. This saves values you entered. Robotiq Hand-E gripper Instruction Manual...
  • Page 78 When a limitation is effective, some reminders appear in PolyScope. When adding gripper commands to a program or issuing them via the Adaptive Gripper tab, the label "Limited" will be shown under the Speed and Force icons, if they have been limited. Fig. 4-15: Label "Limited' appears when limitations are effective. Robotiq Hand-E gripper Instruction Manual...
  • Page 79 Tapping the Calibrate button in the Gripper Calibration menu launches the Calibration wizard. Follow the instructions on the screen of the teach pendant. Depending on the PolyScope settings defined by the user, the units of measurement can either display according to the metric or imperial system. Robotiq Hand-E gripper Instruction Manual...
  • Page 80 Fig. 4-16: First step of the calibration wizard Fig. 4-17: Second step of the calibration wizard Following their respective calibration, the Grippers will display their actual stroke, from the fully closed to the fully open position. Fig. 4-18: Single Gripper, calibrated Robotiq Hand-E gripper Instruction Manual...
  • Page 81 Fully closed dimension table header dimensions in the Calibration menu. Visual aid above the fully open Fully open dimension table header dimensions in the Calibration menu Tap this button to close the Gripper in Close the Calibration wizard. Robotiq Hand-E gripper Instruction Manual...
  • Page 82 Tap this button at the end of the first step Continue of the Calibration wizard in order to go to the next step. Tap this button at the the end of the Calibration wizard to complete the Finish calibration process for the corresponding Gripper. Robotiq Hand-E gripper Instruction Manual...
  • Page 83 Fig. 4-20: Disabled Gripper Toolbar On CB-Series, right after the installation of the Gripper URCap, a collapsed Gripper toolbar will display at the top of the screen; please refer to the figure below. Fig. 4-21: Gripper toolbar (collapsed) Robotiq Hand-E gripper Instruction Manual...
  • Page 84 The Emergency open and Emergency close buttons allow the user to open and close the Gripper even if the latter is not activated. The emergency commands use very low speed and force settings. Tap the Activate button to enable the Gripper Robotiq Hand-E gripper Instruction Manual...
  • Page 85 If the Gripper has not been calibrated at this point, the Open and Close values will remain in percentage. Please refer to the Gripper Calibration menu and wizard section for instructions. Once the Gripper is activated, the toolbar can be expanded and used to test and jog the Gripper Fig. 4-23: Gripper toolbar after activation Robotiq Hand-E gripper Instruction Manual...
  • Page 86 In order to modify each Gripper's settings individually, select a Gripper, edit it, uncheck its box and carry on to the next Gripper. Info For consistency, selecting multiple Grippers at the same time displays the open and close values in percentage since their stroke might be different. Fig. 4-24: Gripper toolbar (expanded, multiple Grippers) Robotiq Hand-E gripper Instruction Manual...
  • Page 87 Tap to activate the Gripper. The Gripper will fully open Activate and close to set the zero of the position value. Emergency open Slowly moves the Gripper to its fully closed position. Emergency close Slowly moves the Gripper to its fully open position. Robotiq Hand-E gripper Instruction Manual...
  • Page 88 Shows the actual force set of the Gripper: 0% : minimum force, regrasp feature disabled Requested force 1% : minimum force, with regrasp feature enabled 100% : maximum force, with regrasp feature enabled Plus Tap to increase the corresponding parameter. Robotiq Hand-E gripper Instruction Manual...
  • Page 89 Minus Tap to decrease the corresponding parameter. No object detected Icon shown when no object is detected during a grasp. The icon shows a green checkmark when an object is detected during Object detected a grasp. Robotiq Hand-E gripper Instruction Manual...
  • Page 90 Tap the URCaps menu in the navigation pane on the left. Tap the Gripper button. Select the node in the robot program and tap the Command tab. Tap the Edit action button to edit the node's parameters. Robotiq Hand-E gripper Instruction Manual...
  • Page 91 Gripper toolbar. Starting from Gripper URCap version 1.0.2, the Gripper activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the Gripper's activation routine. Thus, if the Gripper was already activated, it will activate again. Robotiq Hand-E gripper Instruction Manual...

  • Page 92: Command Window

    When the action is set for multiple Grippers, the header lists the selected Grippers (e.g. Grippers 1,2,3,4) When the Gripper action is set to close, a green "Close" icon appears. When the Gripper action is set to open, a green "Open" icon appears. Robotiq Hand-E gripper Instruction Manual...
  • Page 93 “Warning, the Gripper is not powered or not activated. The Gripper will not move.” Gripper not activated Make sure that the Gripper is installed correctly and powered. You need to activate it using the Gripper toolbar before running Gripper Robotiq Hand-E gripper Instruction Manual...
  • Page 94 Gripper Move x%/mm/in, when position is between the fully open and fully closed values. When position requested is 0%, or the fully opened value defined in Open request the Calibration wizard. Close request When position request is 100%. Robotiq Hand-E gripper Instruction Manual...
  • Page 95 (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again. Single Gripper Fig. 4-26: Edit action screen Robotiq Hand-E gripper Instruction Manual...
  • Page 96 To jog the position, select only one gripper, jog the pos- ition and then select all grippers. The second gripper will move to the requested position. When no grippers are selected, the action cannot be edited. Robotiq Hand-E gripper Instruction Manual...
  • Page 97 Note: This functionality is not available (grey) when the Gripper has the same action parameters as the selected Gripper node. No object detected Icon shown when no object is detected during a grasp. Object detected Icon shows a green checkmark when an object is detected during a grasp. Robotiq Hand-E gripper Instruction Manual...
  • Page 98 Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to the object's dimension (in percentage if the Gripper is not calibrated, or in mm/in if the Gripper is calibrated—depending on the PolyScope configuration). Fig. 4-27: Grip Check node interface Robotiq Hand-E gripper Instruction Manual...
  • Page 99 Fig. 4-28: Grip Check node interface with dimension validation Given that the Grip Check node is an If statement, tapping the actual node in the Command tab brings up the option to add an Else instruction to the program tree. Robotiq Hand-E gripper Instruction Manual...
  • Page 100 Tap the About submenu Fig. 4-29: About submenu. If the Gripper version is obsolete, a warning message will display and an Upgrade firmware button will prompt the user to upgrade the firmware to the latest available version. Robotiq Hand-E gripper Instruction Manual...
  • Page 101 Run the program. You will see pop up windows with comments on the Gripper nodes and advanced functions. Use the gripper_tutorial.urp to learn how to program the Gripper using nodes and advanced functions. You can copy the tutorial and start a new program based on it. Robotiq Hand-E gripper Instruction Manual...
  • Page 102 Object detected opening. Fingers have stopped due to a contact while closing before requested position. rq_wrist_conn_is_obj_2( ) Object detected closing. Fingers are at requested position. No object detected or object has been lost / rq_wrist_conn_is_obj_3( ) dropped. Robotiq Hand-E gripper Instruction Manual...
  • Page 103 Moves the Gripper to the position defined by the argument, normalized from 0% to rq_move_and_wait_norm(position) 100%. Waits until the motion is completed. rq_move_and_wait_mm(position) Moves the Gripper to the position defined by the argument. rq_move_and_wait_inches(position) Moves the Gripper to the position defined by the argument. Robotiq Hand-E gripper Instruction Manual...
  • Page 104 Resets the Gripper's activation status. Use after an autorelease before activating the rq_reset() Gripper. rq_set_force_norm(force) Sets the Gripper's force defined by the argument, normalized from 0% to 100%. rq_set_speed_norm(speed) Sets the Gripper's speed defined by the argument, normalized from 0% to 100%. Robotiq Hand-E gripper Instruction Manual...
  • Page 105 Multiple Grippers Here is an example of how to use the script commands with more than one gripper. Fig. 4-30: Example of UR script commands with multiple Grippers Robotiq Hand-E gripper Instruction Manual...

  • Page 106: Specifications

    5. Specifications Info This manual uses the metric system. Unless otherwise specified, all dimensions are in millimeters. The following subsections provide data on the various specifications for Hand-E. Technical dimensions section Dimensions of couplings Dimensions for custom fingertips Dimensions of standard fingertips...

  • Page 107: Technical Dimensions

    The figure below represents the gripper dimensions with axes X, Y, Z, and origin referenced for finger motion. Info All technical drawings in the current section depict aluminum fingers. Fig. 5-1: General dimensions of Hand-E (open). Robotiq Hand-E gripper Instruction Manual...
  • Page 108 5.1.2. Couplings Hand-E requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Blank coupling Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (please refer to the Spare Parts, Kits and Accessories section), available to create a custom bolt pattern.
  • Page 109 The contact grip points for Hand-E are its two fingertip pads. Robotiq offers a selection of fingertips (see the Spare Parts, Kits and Accessories section), and users can create custom fingertips. The figure below represents the fingertip holder, the permanent, non customizable part of the gripper finger on which the fingertip must be mounted.
  • Page 110 To install fingertips on racks use fingertip holders (HND-TIP-HLD-KIT), and refer to the Spare Parts, Kits and Accessories section. You may customize fingertips to install directly on those. V-groove fingertips (HND-TIP-VGR-KIT) can be installed on fingertip holders. Fig. 5-5: Fingertip holder. Robotiq Hand-E gripper Instruction Manual...
  • Page 111 Flat Aluminum Finger The figure below represents a flat aluminum finger (HND-FIN-ALU-KIT). For more details, refer to the Spare Parts, Kits and Accessories section. This finger allows a 50 mm stroke. Fig. 5-7: Flat aluminum finger. Robotiq Hand-E gripper Instruction Manual...
  • Page 112 The figure below shows the V-groove fingertip (HND-TIP-VGR-KIT). For details, see Spare Parts, Kits and Accessories section. This fingertip inner surface has vertical grooves, making it ideal for picking cylindrical parts. This fingertip must be mounted on the racks using the fingertip holder (HND-TIP-HLD-KIT). Fig. 5-8: Grooved fingertip Robotiq Hand-E gripper Instruction Manual...

  • Page 113: Mechanical Specifications

    20 N - 130 N 4.5 lbf - 27 lbf Finger speed 20 - 150 mm/sec 0.8 - 5.9 in/sec Table 5-1: Mechanical specifications of the Hand-E gripper fitted with coupling GRP-CPL-062 and aluminum fingertips. Robotiq Hand-E gripper Instruction Manual...
  • Page 114 F is the force applied by the gripper to the load is the friction coefficient between fingertip and part load is a safety factor to be determined by the robot integrator Fig. 5-9: Grasping force on Hand-E fingertip. And Now, Some Terminology grasping force Force applied to an object via a gripper finger.
  • Page 115 (2) M3 screws. The yellow curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mounted directly on the rack with three (3) M3 screws. Robotiq Hand-E gripper Instruction Manual...
  • Page 116 In order to address other custom specific cases with regards to your own application, pay special attention to screws strength when mounting fingers. Friction grasp and form-fit grasp Fig. 5-12: Friction grasp and form-fit grasp. Maximum payload by grasp type Grasp Type Maximum Payload Friction grasp 3 kg Form-fit grasp 5 kg Robotiq Hand-E gripper Instruction Manual...
  • Page 117 5.2.2. Center of Mass and Tool Center Point When grippers are not mounted on the Wrist Camera, a coupling is included. A dual gripper adapter plate is included when required. Robotiq Hand-E gripper Instruction Manual...
  • Page 118 Ry+/Ry- = 0.7854 Rz = 0 The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below. Fig. 5-13: Inertia matrix for Hand-E. Robotiq Hand-E gripper Instruction Manual...
  • Page 119 Fig. 5-14: Reference frame for maximum force and moment values applied to the fingers Usage examples with listed limits: After picking its normal payload, the robot can use Hand-E to apply up to 100 N of force in any direction. Applying more than 100 N can damage the gripper or result in payload loss.

  • Page 120: Electrical Specifications

    5.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) Peak current 1.1 A Robotiq Hand-E gripper Instruction Manual...

  • Page 121: Maintenance

    Proper lifetime for your Gripper. Warning Unless otherwise indicated, any repairs done on the Gripper will be performed by Robotiq. Info A cycle is defined as a go to requested position command that results in grip force being applied ( closing the fingers on themselves or picking an object while opening or closing).

  • Page 122: Gripper Cleaning

    When cleaning the Gripper, verify that the fingers or fingertips are still intact. If there is wear visible, you can change the fingers or fingertips, using the ones provided by Robotiq or custom ones. See Spare Parts, Kits and Accessories section to order Hand-E replacement parts.

  • Page 123: Periodic Inspection

    Check for any sign of wear on the Gripper chassis; if wear is present and may affect the Gripper, contact support@robotiq.com 3. Put back in place according to the instructions from the Gripper cleaning section Robotiq Hand-E gripper Instruction Manual...
  • Page 124 Fix the six (6) M4 screws to secure the rack housing. Apply low strength thread locker to the M4 screw threads. Put the gripper back on the coupling and secure it with the four (4) M5-0.8 x 25mm screws and tooth lock washers. Robotiq Hand-E gripper Instruction Manual...

  • Page 125: Spare Parts, Kits And Accessories

    Unless specified, screws, dowel pins and other hardware are only included for grippers, and not for robots. Item Description Ordering Number Hand-E basic gripper unit, includes flat rubber (NBR) Hand-E Basic Gripper Unit HND-GRP-001 overmolded fingers (HND-FIN-MLD-KIT) Basic gripper unit (HND-GRP-001)
  • Page 126 (HND-TIP-HLD-KIT). 2 x fingertips holder Hand-E Fingertip Holder Kit HND-TIP-HLD-KIT 1 x screw kit 10 m Robotiq device cable for power and 10m Device Cable communication. Straight M12 5-pins female on one side, CBL-COM-2065-10-HF single ended on the other, shielded...
  • Page 127 Pitch Circle Diameter To install Hand-E on a robot that has a different bolt pattern than part GRP-CPL-062 (ISO 9409-1-50-4-M6), you can use one of the following. The couplings listed below fit with both Hand-E and the 2-Finger Gripper.
  • Page 128 AGC-APL-152-002 PCD 1 with (2) M6 dowel pins Adapter plate to 80-6M8-2D82D8 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD with (6) M8 screws and (2) M8 AGC-APL-153-002 indexing pins Pitch Circle Diameter Robotiq Hand-E gripper Instruction Manual...

  • Page 129: Troubleshooting

    8. Troubleshooting 8.1. Using the LED of the Hand-E gripper When using Hand-E with a USB to RS485 serial converter, the color of the LED on your Hand-E can provide information on the issue you are facing. LED status Description Solutions Check Gripper power supply and electrical setup. See Gripper is not powered.
  • Page 130 8.2. Using the LED of the USB to RS485 converter When your Hand-E gripper LED is solid red, and you are using a USB to RS485 converter, refer to current subsection to troubleshoot. Check the LED on your converter, and read the table below for details.
  • Page 131 8.4. Troubleshooting Universal Robots Models 8.4.1. From the Universal Robots Teach Pendant To install a URCap, see the Installing URCap Package section. In case the URCap is already installed, but Hand-E cannot be controlled with the Teach Pendant, follow these instructions: 1.
  • Page 132 Use the 24V slider in the I/O tab under the Tool Output section to slide it to 0 and then back to 24V. It should enable the com- munication with the robot. Fig. 8-3: Voltage set to 24V. Robotiq Hand-E gripper Instruction Manual...

  • Page 133: Warranty And Patent

    Cycle count: One (1) cycle is defined as an object picking attempt, successful or not(open or closing onto an object, or closing on itself). It is calculated in the internal memory of the Hand-E gripper and can been seen on the teach pendant when using with Universal Robots or with the Robotiq User Interface.
  • Page 134 9.1. I/O Coupling Warranty Robotiq warrants the I/O Coupling against defects in material and workmanship for a period of one year from the date of reception when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use.
  • Page 135 2016        Safety of machinery — Electrical equipment of machines — Part 1: General requirements 2000        Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary NF EN ISO 14539 and presentation of characteristics NF EN ISO 9409-1 2004 2004        Manipulating industrial robots — Mechanical interfaces — Part 1: Plates Robotiq Hand-E gripper Instruction Manual...

  • Page 136: Applied Standards

    10.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq Hand-E gripper. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products.
  • Page 137 10.3. Ingress Protection Certificate Robotiq Hand-E gripper Instruction Manual...
  • Page 138 (+1) 418-380-2788 Outside US and Canada Technical support Extension 3 Sales Extension 2 Head office Robotiq 966 chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com Robotiq Hand-E gripper Instruction Manual...

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