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

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Original Notice
© 2020. Robotiq, Inc.
Robotiq Hand-E
for Universal Robots
robotiq.com | leanrobotics.org
Instruction Manual

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  • Page 1 Original Notice © 2020. 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 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.
  • 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 Installing the Gripper 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

    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 Specifications 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

    2.1.1. Risk assessment and final application: The Robotiq Hand-E Gripper is meant 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 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. The Scope of Delivery section The Required Tools and Equipment section The Environmental and Operating Conditions section The Mechanical Installation section...

  • Page 16: Scope Of Delivery

    When bought as a kit, the 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 Standard upon delivery for CB Series and e-Series...
  • 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

    Maximum vibration (operating) IP Rating IP 67 Free from corrosive liquids or gases Other Free from explosive liquids or gases Free from powerful electromagnetic interference Table 3-2: Environmental and operating conditions of the Hand-E Gripper. Robotiq Hand-E Gripper Instruction Manual...

  • Page 20: Mechanical Installation

    When no tooth lock washer is present, lock screws in 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 Electrostatic Discharge Safety section. 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 I/O Coupling: General Presentation and Nomenclature The Robotiq I/O Coupling is a robotic peripheral designed to allow a direct connection of the Robotiq Hand-E Gripper to the Universal Robots CB-Series tool flange. It removes the need of any cable management and avoids downtime caused by cable issues.
  • Page 23 A gripper firmware update is required to use your Hand-E Gripper with the I/O Coupling. Make sure you have the latest version installed. 1. Connect the Hand-E Gripper to your computer via the I/O Coupling using the USB cable. If the I/O coupling got wet, make sure the micro USB port is properly dryed before connecting 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 computer 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 tooth lock washers. 3. Mount the grippers onto the coupling using the provided M5 X 25 mm screws and tooth lock washers. Fig. 3-5: Dual Hand-E Gripper Configuration (CB-Series and e-Series) For e-Series: 1.
  • Page 26 4. Apply low strength threadlocker on the provided screws and secure the fingertip to the fingertip holder. 5. Repeat for the second fingertip, if necessary. Fig. 3-8: Mounting fingertips on holders, and holders on racks. Robotiq Hand-E Gripper Instruction Manual...

  • Page 27: Electrical Setup

    Robotiq Hand-E Gripper is not ESD safe. If installed properly using the tooth lock 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 Single Gripper (for CB-Series) Prior to any software installation on Universal Robots, connect the white, blue and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller.
  • Page 30 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. 3-13: Robotiq Hand-E with device cable wiring scheme Robotiq Hand-E Gripper Instruction Manual...
  • Page 31 Fig. 3-14: Pinout of the Hand-E cable-to-wrist coupling Info Power supply, communication signals, grounding, electrical resistance and fusing are managed by the robot itself. Multiple Grippers Caution For multiple gripper configurations, connect the M8 splitter to the robot wrist connector.
  • Page 32 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 manual, available at robotiq.com/support.

  • Page 33: 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, CB3.1 or e-Series controller, it is recommended to use the Robotiq Grippers URCap Package. Controller...
  • Page 34 Software > Gripper Software > DOWNLOAD ZIP. 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 installing the URCap package, make sure your Universal Robots controller is compatible with the package (refer to the Installation for Universal Robots section).
  • Page 35 Universal Robots controller is compatible with the gripper’s URCap package. Browse to support.robotiq.com and click on Select product > Hand-E Adaptive Gripper > Universal Robots > Software > Gripper Software. Download the UCG-X.X.X and extract its content on the root of a blank USB stick.
  • Page 36 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). When PolyScope reopens, the Gripper Toolbar will appear on the screen. Robotiq Hand-E Gripper Instruction Manual...
  • Page 37 Gripper's URCap package. Browse to support.robotiq.com and click on Select product > Hand-E Adaptive Gripper > Universal Robots > Software > Gripper Software. Download the UCG-X.X.X and extract its content on the root of a blank USB stick. Insert the USB stick in the UR teach pendant or controller.
  • Page 38 6. Go back to the gripper Dashboard, and tap Scan. An icon should confirm your gripper is connected. To activate it, tap Activate. You can now use your gripper. Tap E-Open or E-Close to test it. Info The number written in the gripper icon corresponds to the gripper ID. Robotiq Hand-E Gripper Instruction Manual...
  • Page 39 2. From the left navigation pane, tap URCaps. 3. Tap Gripper. 4. Tap the Dashboard tab. 5. Perform steps 3 to 6 listed under the Activating a Gripper Connected to the Robot Wrist on a e-Series Robot section Robotiq Hand-E Gripper Instruction Manual...
  • Page 40 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 test each grip- per. Robotiq Hand-E Gripper Instruction Manual...
  • Page 41 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 42 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 43 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 44 Registers & Functionalities section details the output (write) register functions, and Robot Input Registers and Status section details the input (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 45: 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 46: Robot Output Registers & Functionalities

    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 47 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 255 fully closed, with a quasi-linear relationship between the two values. Robotiq Hand-E Gripper Instruction Manual...
  • Page 48 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 49 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 50 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 51 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 52: Force Control

    Finger motion will stop when rPR position is reached, even if there is no object. Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost / dropped. Robotiq Hand-E Gripper Instruction Manual...

  • Page 53: 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 54: 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 55 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 56: Read Input Registers (Fc04)

    Function Code 04 (Read Input Registers) Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4584 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...

  • Page 57: Preset Multiple Registers (Fc16)

    Response is: 09 10 03 E9 00 02 91 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E9 Address of the first register 0002 Number of written registers 9130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 58 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 59 F6C1 Cyclic Redundancy Check (CRC) Response contents might change depending on gripper status. Info Gripper executes the input command ("write" command), executes one cycle of motion, updates the output, then returns the Modbus response read. Robotiq Hand-E Gripper Instruction Manual...
  • Page 60 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 61 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 62 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3 for 3100 "Activation is completed" 4D61 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 63 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 64 GRIPPER STATUS is valid. Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 0E0A 100mA (these values will change during motion) B66D Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 65 Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full 0000 opening of the Gripper (partial opening would also be possible) FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 7219 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 66 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 67 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 68 4.8. Hand-E Gripper and I/O Coupling communication The following communication parameters must be present: Baud rate: 115200 bps Parity: None Data: 8 bit Stop bit: 1 bit Slave ID: 1 to 9 Activation sequence In order to activate the sequence:...
  • Page 69 A Gripper firmware update is required to use your gripper with the I/O Coupling. Make sure you have the latest version installed. If an update is necessary on the I/O Coupling or the gripper, the Robotiq User Interface (RUI) will warn you and request the update.
  • Page 70 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 71 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 72 In the Wrist Connection Toolbar, you can: Test the 4 presets; See the Object Detection Status; Activate the Gripper Fig. 4-7: Wrist Connection Toolbar Interface. Robotiq Hand-E Gripper Instruction Manual...
  • Page 73 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 74 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 75 For each gripper connected, follow the required steps in one of the two following sections depending on your robot model: the Single Gripper for CB-Series section or the Single Gripper for e-Series section Robotiq Hand-E Gripper Instruction Manual...
  • Page 76 Tapping this button sends an emergency open E-Open command to the corresponding gripper, whether it is activated or not. Tapping this button sends an emergency close E-Close command to the corresponding gripper, whether it is activated or not. Robotiq Hand-E Gripper Instruction Manual...
  • Page 77 The values (%) stand as references only. The actual maximum force (in newtons) can vary depending on the application and needs to be measured by its user by an external measuring system on each gripper for high precision. Robotiq Hand-E Gripper Instruction Manual...
  • Page 78 For CB-Series Go to the Installation tab Select Gripper in the left pane Info A gripper that has not been calibrated will display open and closed values in percentage. Fig. 4-16: Sequence Toward Calibration, Single Gripper. Robotiq Hand-E Gripper Instruction Manual...
  • Page 79 Depending on the PolyScope settings defined by the user, the units of measurement can either display according to the metric or imperial system. Fig. 4-17: First step of the calibration wizard Fig. 4-18: Second step of the calibration wizard Robotiq Hand-E Gripper Instruction Manual...
  • Page 80 Label indicating the gripper's ID , ranging Gripper from 1 to 4. Visual aid above the fully closed Fully closed dimension table header dimensions in the Calibration menu. Robotiq Hand-E Gripper Instruction Manual...
  • Page 81 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 82 The Emergency open and Emergency close buttons allow the user to open and close the gripper even if it 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 83 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. 4-24: Gripper Toolbar After Activation Robotiq Hand-E Gripper Instruction Manual...
  • Page 84 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. 4-25: Gripper Toolbar (expanded, multiple grippers) Robotiq Hand-E Gripper Instruction Manual...
  • Page 85 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 86 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 87 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 88 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 89: 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 90 “Warning, the Gripper is not powered or not activated. The Gripper will not move.” Gripper not Make sure that the gripper is installed correctly and powered. You activated need to activate it using the gripper Toolbar before running Gripper commands. Robotiq Hand-E Gripper Instruction Manual...
  • Page 91 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 92 To jog the position, select only one gripper, jog the position 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 93 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 94 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. 4-26: Grip Check node interface Robotiq Hand-E Gripper Instruction Manual...
  • Page 95 Fig. 4-27: 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 96 If a program is running without the gripper being activated, the program will stop at the execution of a Gripper node and the following message will be displayed in a popup. Tap Stop Program and activate the gripper with the toolbar to continue or add an activation command in the program (see Advanced Gripper Functions section). Robotiq Hand-E Gripper Instruction Manual...
  • Page 97 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 98 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 99 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 100 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 101: 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 Robotiq Hand-E Gripper. Technical dimensions section Dimensions of the Gripper Dimensions of couplings...

  • Page 102: 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 103 5.1.2. Couplings The Hand-E Gripper requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling GRP-CPL-062 and GRP-ES-CPL-062 (please refer to the Spare Parts, Kits and Accessories section) is...
  • Page 104 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 105 Fig. 5-4: Fingertip holder. Fingertip Extenders The figure below represents the fingertip extenders (HND-TIP-EXT-KIT). For details, see the Spare Parts, Kits and Accessories section. This extender allows an opening up to 100 mm. Fig. 5-5: Fingertip Extender Robotiq Hand-E Gripper Instruction Manual...
  • Page 106 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 107 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 108: Mechanical Specifications

    The presented values are typical for the newlymanufactured products. Resolution is the increment modified from a 1 bit difference of position/speed/force request (from 0 to 255). Table 5-1: Mechanical specifications of the Hand-E Gripper fitted with coupling GRP-CPL-062 and aluminum fingertips (without NBR). Robotiq Hand-E Gripper Instruction Manual...
  • Page 109 Fig. 5-9: Grasping force on Hand-E fingertips. Info The gripper has a power off brake. Without power, gripper fingers are blocked.
  • Page 110 Data is calculated at the resulting position of the force applied, based on the strength of the M3 screws used. Maximum grasping force is included in calculations. It represents the maximum force that can be added to the finger (payload force + external force). Robotiq Hand-E Gripper Instruction Manual...
  • Page 111 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 4.7 kg Form-fit grasp 5 kg Robotiq Hand-E Gripper Instruction Manual...
  • Page 112 5.2.3. Center of Mass, Tool Center Point and Moment of Inertia 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 113 Rz = 0 The moment of inertia are calculated for a configuration where the fingers are fully open. Here is the approximate moment of inertia matrix for the gripper: Fig. 5-13: Inertia matrix for Hand-E. Robotiq Hand-E Gripper Instruction Manual...
  • Page 114 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 115: Electrical Specifications

    5.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) Peak current 680 mA Robotiq Hand-E Gripper Instruction Manual...

  • Page 116: 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 117: 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 118: 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 respecting to the instructions from the Gripper cleaning section 4. Finger movement must be symmetric and fluid; test opening and closing of the gripper: Robotiq Hand-E Gripper Instruction Manual...
  • Page 119 11. Reinsert the rack housing with racks on the gripper. Make sure the racks go in symmetrically compared to the center of the grip- per. As a reference, both distances d represented in the figure below should be the same. Fig. 6-1: Distance d: distance between racks and gripper frame. Robotiq Hand-E Gripper Instruction Manual...
  • Page 120 12. Secure the rack housing using the six (6) M4 screws. Apply low strength thread locker to the M4 screw threads. 13. 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 121: 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) overmolded Hand-E Basic Gripper Unit HND-GRP-001 fingers (HND-FIN-MLD-KIT) Basic gripper unit (HND-GRP-001)
  • Page 122 Hand-E Fingertip Starting Kit HND-UR-KIT-W Series I/O Coupling Kit 10 m Robotiq device cable for power and communication. Straight 10m Device Cable CBL-COM-2065-10-HF M12 5-pins female on one side, single ended on the other, shielded USB to RS485 adapter, can be used with device cable for...
  • Page 123 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 and adapter plates listed below fit with both Hand-E and the 2-Finger Gripper. Item...
  • Page 124 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 For legacy part replacement visit the documentation archives and the appropriate manual or consult your Robotiq distributor. Robotiq Hand-E Gripper Instruction Manual...

  • Page 125: 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 gripper 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 126 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 127 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 128 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 129: 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 130 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 131 Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring any obligation to make any changes whatsoever on units already purchased.
  • Page 132 10. Harmonized Standards, Declarations and Certificates 10.1. EC declaration of incorporation Robotiq Hand-E Gripper Instruction Manual...

  • Page 133: 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 134 10.3. Ingress Protection Certificate Robotiq Hand-E Gripper Instruction Manual...

  • Page 135: License Agreement

    Licensor if, at such time, the End-User is not in default in respect of any of its obligation contained herein. Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Website http://robotiq.com/ where a link to proceed to such installation will be made available thereof.
  • Page 136 Upon termination of this Agreement for any reason, the End-User shall promptly uninstall the Software on any UR’s Products and Licensor’s Products, computer, or server on which it has been installed, deliver to the Licensor all CDs, DVDs, Robotiq Hand-E Gripper Instruction Manual...
  • Page 137 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 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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