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Lean Robotiq 2F-85 Instruction Manual

Adaptive gripper
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© 2020 Robotiq Inc.
Robotiq 2F-85 & 2F-140
for Universal Robots
robotiq.com | leanrobotics.org
Instruction Manual

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  • Page 1 Original Notice © 2020 Robotiq Inc. Robotiq 2F-85 & 2F-140 for Universal Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    Table of Contents Revisions 1. General Presentation 1.1. Gripper nomenclature 1.2. 2F-85 vs. 2F-140 1.3. Object picking 1.4. Setup and control 2. Safety 2.1. Warning 2.2. Intended Use 3. Installation 3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4.
  • Page 3 5.2. Mechanical specifications 5.3. Electrical specifications 6. Maintenance 6.1. Gripper cleaning 6.2. Periodic inspection 6.3. Fingertip replacement 6.4. Overhaul 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. Using the LED of the 2F-Finger gripper 8.2. Using the LED of the USB to RS485 converter 8.3.

  • Page 4: Revisions

    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 support.robotiq.com. Revision 2020/02/11 Major Revision: Fused sections that were exclusive to e-Series or to CB-Series , to be displayed in a single Instruction Manual...
  • Page 5 Revision 2018/09/11 Updated Section 3 according to the robot used (CB-Series vs. e-Series) Updated Section 4 Input & Output Registers 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 2018/05/23...
  • Page 6 Revision 2014/11/05 Modification for Robotiq 2-Finger 85 Adaptive Robot Gripper version 3 Revision 2014/07/22 Modification for use on Robotiq Universal Controller Minor modifications : User Interface section, maintenance section Revision 2013/02/06 Section added : Couplings ISO models and Baxter robots Minor modifications Revision 2013/02/06 Section added : Communication with UR robots Minor modifications Revision 2012/10/18...
  • Page 7 Copyright © 2016-2020 Robotiq Inc. All rights reserved. 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. Under copyright law, copying includes translation into another language or format.

  • Page 8: General Presentation

    1. General Presentation The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85", "2-Finger 140", "2F-85" and "2F-140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper. The Robotiq 2-Finger Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm (2F-85) or 140 mm (2F-140).

  • Page 9: Gripper Nomenclature

    1.1. Gripper nomenclature The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below. The grasp-type gripper can engage up to five points of contact with an object (two on each of the phalanges plus the palm). The fingers are under-actuated, meaning they have fewer motors than the total number of joints.
  • Page 10 1.2. 2F-85 vs. 2F-140 The 2-Finger Gripper has two configurations either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140). The chassis remains the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions. Finger kits are available in the Spare Parts, Kits and Accessories section.

  • Page 11: Object Picking

    1.3. Object picking The 2-Finger Gripper has a single actuator for opening and closing the fingers. The fingers automatically adapt to the shape of the object manipulated. Fingers will adopt either a parallel grasp or encompassing grasp as shown in the figure below. Info Closing or opening is done via the "Go to requested position"...
  • Page 12 The 2-Finger Adaptive Gripper also allows for internal grasping. The fingers can pick hollow objects from the inside by applying pressure with the outside of the fingers. Refer to the figure below for a visual representation and to the Picking Features section for details on the possible position commands of your gripper.
  • Page 13 The gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grasp. When grasping an object close enough to the inside (palm) of the gripper, the encompassing grasp will occur (unless the object size or shape is not adequate) and the fingers will close around the object.

  • Page 14: Setup And Control

    1.4. Setup and control The gripper is powered and controlled directly via a single device cable that carries a 24V DC supply and Modbus RTU communication over RS-485. Refer to the Electrical Setup section for wiring information and the Control section for control of the gripper (various software packages are available for control via various robot controllers).

  • Page 15: Safety

    2. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq 2-Finger Adaptive Robot Gripper. Caution The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper: Installation Control...

  • Page 16: Warning

    2.1. Warning Caution Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning The Gripper needs to be properly secured before operating the robot. Do not install or operate a Gripper that is damaged or lacking parts. Never supply the Gripper with an alternative current source.

  • Page 17: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Gripper. The Scope of Delivery section The Required Tools and Equipment section The Environmental and Operating Conditions section The Mechanical Installation section The Electrical Setup section The Testing the Gripper with the Robotiq User Interface (RUI) section The Installation for Universal Robots section...

  • Page 18: 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 2F-85 and 2F-140 grippers UR Standard Kit Standard upon delivery for CB Series and e-Series...

  • Page 19: Required Tools And Equipment

    3.1.2. UR Wrist connection Kit for CB-Series Robotiq 2F-85 Wrist Connect Kit for UR CB Robotiq 2F-140 Wrist Connect Kit for UR CB (AGC-UR-KIT-85-W) (AGC-UR-KIT-140-W) Included: Included: 1 x Robotiq 2-Finger Adaptive Gripper 85 (GRIPPER-2F85) 1 x Robotiq 2-Finger Adaptive Gripper140 (GRIPPER-2F140)
  • Page 20 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 21: Environmental And Operating Conditions

    3.3. Environmental and Operating Conditions CONDITION VALUE Minimum storage/transit -30°C [-22°F] temperature Maximum storage/transit 70°C [158°F] temperature 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 40 Free from dust, soot or fluids Free from corrosive liquids or gases Other...
  • Page 22 Fig. 3-1: Installing the gripper on the robot wrist for CB-Series 2F-85 & 2F-140 - Instruction Manual...
  • Page 23 Fig. 3-2: Installing the gripper onto the robot wrist for e-Series 2F-85 & 2F-140 - Instruction Manual...
  • Page 24 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 2F-85 & 2F-140 Grippers to the Universal Robots CB-Series tool flange. It removes the need of any cable management and avoids downtime caused by cable issues.
  • Page 25 Preset 1 Preset 2 Preset 3 Preset 4 Position Speed Force *To preserve object lost detection, force is not set to 0. Table 3-3: Factory presets for 2F-85 & 2F-140 Grippers Installing the I/O Coupling Mounting the I/O Coupling 1. Insert the provided dowel pin into the tool flange. 2.
  • Page 26 Firmware Update Warning A gripper firmware update is required to use your 2F-85 or 2F-140 Gripper with the I/O Coupling. Make sure you have the latest version installed. 1. Connect the 2F-85 or 2F-140 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 27 Multiple Grippers Installation When installing multiple grippers on one robot, every gripper must have its own coupling. 1. Install a mounting plate first on the robot arm (AGC-APL-159-02). 2. Mount the grippers' couplings on the mounting plate using the provided M6 X 12 mm screws and tooth lock washers. 3.
  • Page 28 3.4.2. Installing Fingers on the Gripper If you need to change the fingers, follows the instructions below. 1. Align finger with chassis axis. To do so, the holes on the bar and the proximal should be aligned correctly with the corresponding chassis axis.
  • Page 29 3.4.3. Installing the fingertips on the Gripper If you need to change the fingertips, follow the instructions below. 1. Align the fingertip dowel pins with the finger dowel holes. 2. Apply low strength threadlocker on the provided screws and secure the fingertips to the fingers. Fig.
  • Page 30 3.4.4. Installing a Protector Kit on the Gripper Fingers An optional protector kit (AGC-PRO-KIT-V4 / AGC-PRO-KIT-140) can be ordered to cover the fingers of the 2F-85/2F-140 and therefore protect users and assets against pinch points. You can install them using eight (8) M3 screws. Fig.

  • Page 31: Electrical Setup

    3.5.1. Electrostatic Discharge Safety Robotiq 2F-85 & 2F-140 Gripper are 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 2F grippers, the finger mechanisms and fingertips are isolated from the rest of the gripper.
  • Page 32 3.5.2. Pinout Interface The gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface. Fig. 3-11: Pinout of the 2F-85 & 2F-140 Gripper cable-to-wrist coupling 3.5.3. Coupling to Controller Caution Use proper cabling management. Make sure to leave enough slack in the cabling to allow movement of the gripper along all axes without pulling out the connectors.
  • Page 33 If additional cable is used, suggested cable specifications are as follows: Power supply, fusing: minimum #22 AWG TEW, 300 V or 600 V RS485 signal : minimum #24 AWG TEW, 300 V or 600 V A and B signals must be balanced at 120 Ohms Single Gripper Prior to any software installation on Universal Robots, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-USB-RS485) as shown in the figure below.
  • Page 34 3.5.4. Coupling to Tool Connector for I/O Coupling Fig. 3-15: Pinout of the I/O Coupling 3.5.5. Coupling to wrist for e-Series Single Gripper The figure below represents the wiring schematic of the 2-Finger with a coupling connecting directly to the robot wrist. Fig.
  • Page 35 Fig. 3-17: Pinout of the 2-Finger 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. Warning In order to connect two or more grippers at the same time on a robot, each gripper must have a coupling for the transmission of power and communication signals, a dual gripper adapter plate to mechanically mount the gripper on the robot arm, and...

  • Page 36: Testing The Gripper With The Robotiq User Interface (Rui)

    3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq 2-Finger Adaptive 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. Info For CB-Series, use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (see RS-485 to USB converter ACC-ADTUSB- RS485 pinout figure below) to plug into a PC with the Robotiq User Interface installed.

  • Page 37: 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 a Robotiq Grippers URCap Package. Robotiq Software Controller Controller Controller...

  • Page 38: Urcap Package

    3.8. URCap Package Robotiq provides you with a Universal Robots URCap package that enables direct serial communication to your robot controller. Info To download the URCap package for your Universal Robots controller, go to support.robotiq.com, select your product and robot brand from the list, then go to Software > Gripper Software > DOWNLOAD ZIP. Make sure the 2-Finger Adaptive Gripper is properly mounted to the robot arm.
  • Page 39 3.8.1. Installing URCap Package Installing URCap Package on CB-Series To install the gripper URCap, follow these insctructions. Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the gripper's URCap package. Go to support.robotiq.com and click on Select product >...
  • Page 40 Tap the plus button (+) to add the gripper’s URCap package. Open Robotiq_Grippers-X.X.X.urcap from the USB storage device. If an I/O coupling is present, tap the plus button (+) to add the Wrist Connection’s URCaps package. Open Robotiq_Wrist_ connectionX.X.X.X.urcap from the USB storage device. Restart PolyScope to complete the URCap installation.
  • Page 41 Installing URCap Package on e-Series Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Gripper's URCap package. Go to support.robotiq.com and click on Select product > 2 fingers 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 42 Activating a Gripper Connected to the Robot Wrist on a e-Series Robot 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.
  • Page 43 Multiple Grippers It is possible to connect and control up to four grippers on the same UR robot. When installing multiple grippers on a UR robot, set an ID for each gripper. To do so, perform the following steps for each gripper. Caution Connect only one gripper at a time using the splitter (refer to the Installing the Gripper on the robot section and the Electrical Setup section for detailed instructions).
  • Page 44 1. Check that gripper ID is different from that of other grip- pers that will be connected to the robot, and if required, select a different ID from the "Change ID" dropdown list. Caution Make sure that each gripper has an ID different from other grippers.
  • Page 45 3.8.2. Uninstalling URCap Package If you wish to uninstall the 2-Finger 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. Tap the minus (-) button to uninstall the URCap.
  • Page 46 For e-Series On the teach pendant, tap the triple bar icon in the upper right corner of the screen. Tap Settings. Tap the System button in the navigation pane on the left. Select URCaps in the dropdown list. Select the URCap to uninstall. Press the minus (-) button to remove the URCap.

  • Page 47: Control

    4. Control Info Unless specified, all values in this section are hexadecimal values. 4.1. Overview The Robotiq 2-Finger Adaptive Gripper is controlled directly via Modbus RTU using a RS 485 signal. To test various gripper features such as object detection and force control, use the Robotiq User Interface. To download it, go to support.robotiq.com, click on Select product >...
  • Page 48 Fig. 4-1: 2-Finger control logic overview 2F-85 & 2F-140 - Instruction Manual...

  • Page 49: Gripper Register Mapping

    4.2. Gripper Register Mapping Caution Byte numeration starts at zero and not at 1 for the functionalities and status registers. Register Robot Output / Functionalities Robot Input / Status Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST...

  • Page 50: Robot Output Registers & Functionalities

    4.3. Robot Output Registers & Functionalities 4.3.1. Register: ACTION REQUEST Address: Byte 0 Bits Symbols Reserved rARD rATR rGTO Reserved rACT rACT First action to be made prior to any other actions, rACT bit will activate the gripper. Clear the rACT bit to reset the gripper and clear any fault status.
  • Page 51 rATR Automatic Release routine action slowly opens the gripper fingers until all motion axes reach their mechanical limits. After all motions are completed, the 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).
  • Page 52 4.3.4. Register: POSITION REQUEST Address: Byte 3 Bits Symbol This register is used to set the target position for the gripper's fingers. The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops. For detailed finger trajectory, please refer to the Specifications section. 0x00 - Open position, with 85 mm or 140 mm opening respectively 0xFF - Closed Opening / count: 0.4 mm (for 85 mm stroke) and 0.65 mm (for 140 mm stroke)
  • Page 53 4.3.6. Register: FORCE Address: Byte 5 Bits Symbol The force setting defines the final gripping force for the gripper. The force will fix the maximum current sent to the motor. If the current limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Picking Features section for details on force control.

  • Page 54: Robot Input Registers & Status

    4.4. Robot Input Registers & 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. gGTO Action status, echo of the rGTO bit (go to bit). 0x0 - Stopped (or performing activation / automatic release).
  • Page 55 gOBJ Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0. 0x00 - Fingers are in motion towards requested position. No object detected. 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening. 0x02 - Fingers have stopped due to a contact while closing before requested position.
  • Page 56 Major faults (LED blinking red/blue) - Reset is required (rising edge on activation bit (rACT) needed). 0x0A - Under minimum operating voltage. 0x0B - Automatic release in progress. 0x0C - Internal fault; contact support@robotiq.com. 0x0D - Activation fault, verify that no interference or other error occurred. 0x0E - Overcurrent triggered.
  • Page 57 4.4.4. Register: POSITION REQUEST ECHO Address: Byte 3 Bits Symbol Echo of the requested position for the gripper, value between 0x00 and 0xFF. 0x00 - Full opening. 0xFF - Full closing. 4.4.5. Register: POSITION Address: Byte 4 Bits Symbol Actual position of the gripper obtained via the encoders, value between 0x00 and 0xFF. 0x00 - Fully opened.

  • Page 58: Picking Features

    4.5. Picking Features As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in object picking applications: Force control Re-grasp...
  • Page 59 FINGERTIP PAYLOAD MEASURED FORCE MIN / MAX (N) TYPE HARDNESS TYPE HARDNESS 2-Finger 85 2-Finger 140 Steel 4340 220 HV Steel 4340 25 - 220 15 - 120 220 HV 95 HV Aluminium 6061 95 HV 25 - 220 15 - 120 Aluminium 6061 95 HV 60 A Durometer...
  • Page 60 Fig. 4-2: Grip force on hardness 220 HV (4340 annealed carbon steel). Fig. 4-3: Grip force on hardness 95 HV (6061-T6 aluminium). 2F-85 & 2F-140 - Instruction Manual...
  • Page 61 Fig. 4-4: Grip force on hardness 60A (silicone). Fig. 4-5: Grip force on hardness 40 A (silicone). 2F-85 & 2F-140 - Instruction Manual...
  • Page 62 Fig. 4-6: Grip force on hardness 10 A (neoprene). Fig. 4-7: Grip force on hardness 30 OO (polyurethane). 2F-85 & 2F-140 - Instruction Manual...
  • Page 63 4.5.2. Re-Grasp Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature allows the gripper to initiate movement when an object is slipping or dropped. When Re-grasping, the gripper will attempt to close until it reaches the position request (rPR) .
  • Page 64 4.5.3. Object detection When the gripper grabs an object, gOBJ status will allow you to know if contact with the object was successful. This is a built-in feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection feature will change the gOBJ status and can be used inside your robot program.

  • Page 65: Control Logic Example

    4.6. Control Logic Example Fig. 4-8: Example of Gripper control logic with corresponding registers. 2F-85 & 2F-140 - Instruction Manual...

  • Page 66: Modbus Rtu Communication

    4.7. Modbus RTU Communication The gripper can be controlled by Modbus RTU directly with RS485-RS232 using the ACC-ADT-RS232-RS485, or over USB using the ACC-ADT-USB-RS485. This section is intended to provide guidelines for setting up a Modbus master that will adequately communicate with the gripper.
  • Page 67 4.7.1. Connection Setup The following table describes the connection requirements for controlling the gripper using the Modbus RTU protocol. PROPRIETY DEFAULT VALUE Physical Interface RS-485 115,200 bps Baud Rate Data Bits Stop Bit None Parity Read Input Registers (FC04) Supported Functions Preset Multiple Register (FC16) Master read &...
  • Page 68 4.7.2. Read input registers (FC04) Function code 04 (FC04) is used for requesting the status of the gripper analog input register. Examples of such data are gripper status, object status, finger position, etc. Example of an FC04 read function: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault Status and Position Request Echo.
  • Page 69 4.7.3. Preset multiple registers (FC16) Function code 16 (FC16) is used to activate functionalities of the gripper (robot output). Examples of such data are action request, speed, force, etc. Example of setting multiple registers FC16: This message requests to set position request, speed and force of the gripper by setting register 0x03E9 (1002) and 0x03EA. Request is: 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C Bits Description...
  • Page 70 4.7.4. Master read & write multiple registers FC23 Function code 23 (FC23) is used for reading the status of the gripper (robot input) and activating gripper functionalities (robot output) simultaneously. Examples of such data are Gripper status, object status, finger position, etc. Action requests are speed, force, etc. Example of reading and writing multiple registers FC23: This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and Position Request Echo.
  • Page 71 Response is: 09 17 04 01 00 09 E6 F6 C1 Bits Description SlaveID Function Code 23 (read and write multiple registers) Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 1000 Content of register 07D0 09E6 Content of register 07D1 F6C1...
  • Page 72 4.7.5. Modbus RTU example This section depicts the example from the Control Logic Example section, when programmed using the Modbus RTU protocol. The example is typical of a pick and place application. After activating the gripper, the robot is moved to a pick-up location to grip an object.
  • Page 73 Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of registers written to Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate 0100...
  • Page 74 Step 2: Read Gripper status until the activation is completed Request is: 09 04 07 D0 00 01 30 0F Bits Description SlaveID Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0001 Number of registers requested (1) 300F Cyclic Redundancy Check (CRC) Response (if the activation IS NOT completed): 09 04 02 11 00 54 A1...
  • Page 75 Step 3: Move the robot to the pick-up location Step 4: Close the Gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register...
  • Page 76 Step 5: Read Gripper status until the grasp is completed 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) Example of response if the grasp is not completed: 09 04 06 39 00 00 FF 0E 0A B6 6D...
  • Page 77 Example of response if the grasp is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A Bits Description SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 B900 for "Go to Position Request"...
  • Page 78 Step 6: Move the robot to the release location Step 7: Open the Gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register...
  • Page 79 Step 8: Read Gripper status until the opening is completed 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) Example of response if the opening is not completed: 09 04 06 39 00 00 00 BB 10 71 06...
  • Page 80 Example of response if the opening is completed: 09 04 06 F9 00 00 00 0D 00 17 AA Bits Description SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 F900 for "Go to Position Request"...

  • Page 81: 85 & 2F-140 Gripper And I/O Coupling Communication

    4.8. 2F-85 & 2F-140 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: Wait at least 10 ms between steps The whole sequence can not exceed 5 seconds The gripper must be connected to the I/O Coupling.

  • Page 82: Control Over Universal Robots

    4.9. Control over Universal Robots 4.9.1. Control with the Standard Coupling Kit The URCap package contains many features to program and control the gripper. The package provides: Gripper Toolbar: The Gripper Toolbar is automatically installed with the URCap package. It allows jogging and testing of the gripper. It is a great tool to try grasps with the gripper while programming.
  • Page 83 Fig. 4-9: Program Structure Editor. Multiple Wrist nodes are available. The Wrist connection Activation node activates the device in the program. Fig. 4-10: Wrist Connection Activation Interface 2F-85 & 2F-140 - Instruction Manual...
  • Page 84 For each Wrist connection node, select the desired presets. Tap on the Test button to try each preset. Fig. 4-11: Wrist Connection Node Interface. 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.
  • Page 85 In the Wrist Connection Toolbar, you can: Test the 4 presets; See the Object Detection Status; Activate the Gripper Fig. 4-13: Wrist Connection Toolbar Interface. 2F-85 & 2F-140 - Instruction Manual...
  • Page 86 4.9.3. Gripper Dashboard Overview Single Gripper for e-Series Fig. 4-14: Gripper Dashboard (steps highlighted) On the teach pendant, tap the Installation button. Select URCaps in the navigation pane on the left. 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.
  • Page 87 Fig. 4-15: Gripper ID modification in the Gripper Dashboard Info The E-Open and E-Close buttons allow the user to open and close the gripper even if it is not activated. These emergency commands use very low speed and force settings. Single Gripper for CB-Series Open or create a robot program Tap the Installation tab Select Gripper in the left pane...
  • Page 88 Fig. 4-17: Gripper ID modification in the Gripper Dashboard Info The E-Open and E-Close buttons allow the user to open and close the gripper even if it is not activated. These emergency commands use very low speed and force settings. Multiple Grippers Info The URCap allows the user to connect and control up to 4 grippers at the same time.
  • Page 89 Icon Functionality Name Description Command allowing for a detection of connected Scan grippers. After tapping this button, the latter will display in the Gripper Dashboard. Tap the arrow next to the text box to expand a list of Change ID available gripper IDs.
  • Page 90 4.9.4. Limiting your Gripper Force and Speed Grippers can have their force and speed limited at root-level when using the teach pendant. Follow these instructions to enable this. Fig. 4-18: Limiting the Gripper Force and Speed 1. Depending on your robot: For e-Series: Go to Installation >...
  • Page 91 5. To choose a new password, tap the Change password button, and follow instructions on screen. To save your new password, tap Change. Fig. 4-20: Modification of the current password. Default password: rqsafe. If you lose your password, contact support team to reset it. Caution This feature reduces the risk, but is not safety-certified.
  • Page 92 4.9.6. Gripper Calibration menu and wizard Depending on the fingertips used, the operator will calibrate the gripper and measure the stroke by defining the fully open and fully closed positions. Make sure the gripper is activated. For e-Series: On the teach pendant, tap the Installation button. Select URCaps in the navigation pane on the left.
  • Page 93 Fig. 4-23: First step of the calibration wizard Fig. 4-24: Second step of the calibration wizard 2F-85 & 2F-140 - Instruction Manual...
  • Page 94 Following their respective calibration, the grippers will display their actual stroke, from the fully closed to the fully open position. Fig. 4-25: Single Gripper, Calibrated Features Icon Functionality Name Description After selecting the gripper in the left pane Calibration of the Installation tab, tap this button to access the Gripper Calibration menu.
  • Page 95 Icon Functionality Name Description Visual aid above the fully open Fully open dimension table header dimensions in the Calibration menu Tap this button to close the Gripper in the Close Calibration wizard. Tap this button to open the Gripper in the Open Calibration wizard.
  • Page 96 4.9.7. Gripper Toolbar The Gripper Toolbar is generally used to test and jog the gripper, meaning it has no effect on the programming of the robot. Info The Gripper URCap package contains the Gripper Toolbar. Therefore, the toolbar is automatically installed with the URCap package.
  • Page 97 Single Gripper Caution 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.
  • Page 98 Multiple Grippers If multiple grippers are used, check one or several grippers and test their settings and features. The first gripper selected is the "master", meaning that its settings will be copied over to the others when they are selected. In order to modify each gripper's settings individually, select a gripper, edit it, uncheck its box and carry on to the next gripper.
  • Page 99 Features Gripper activation Icon Functionality Name Description Tap to toggle between the expanded and collapsed CB-Series Gripper Toolbar Gripper Toolbar. When greyed out, the functionality is not available. Tap to toggle between the expanded (blue) and e-Series UR+ Menu (Gripper Toolbar) collapsed (black) Gripper Toolbar.
  • Page 100 Gripper operation window Primary Icon Functionality Name Description Tap to toggle between expanded and collapsed Gripper Toolbar. CB-Series Gripper Toolbar When greyed out, the functionality is not available. e-Series UR+ Menu Tap to toggle between the expanded (blue) and collapsed (black) Gripper (Gripper Toolbar) Toolbar.
  • Page 101 Primary Icon Functionality Name Description 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. 2F-85 & 2F-140 - Instruction Manual...
  • Page 102 4.9.8. Gripper Node To add and edit a Gripper node inside your robot program, follow the steps below: For e-Series On the teach pendant, at the top of the screen, tap the New icon to create a program or the Open icon to load a program. Select Program.
  • Page 103 When the node is not defined, the Command window shows warning messages. Tap Edit action to modify the gripper’s action. Caution Tap the Go to position button prior to editing the action. Whereas the command window displays the command that the gripper should execute in this particular node, the Edit action screen displays the current gripper position.
  • Page 104 Features Functionality Icon Description Name Requested Shows the position requested for the current Gripper node. Read only. position Requested Shows the speed requested for the selected Gripper node. Read only. speed Requested Shows the force requested for the selected Gripper node. Read only. force Sends all node parameters (position, force, speed) to the gripper.
  • Page 105 Functionality Icon Description Name “Gripper action undefined! Please edit action.” Gripper action When creating a new node, all action parameters are undefined. Tap undefined the edit action button to define parameters. “Warning, if you are picking an object, use close (100%) or open (0%) position.”...
  • Page 106 Edit action screen Tap Edit action from the Command window and use the Edit action screen to edit the gripper’s parameters and adjust its position, speed and force. In normal usage conditions, the gripper will move as soon as you change the position setting. The gripper will not move if it is not properly powered, connected and activated.
  • Page 107 Features Primary Icon Functionality Name Description Tap to fully open the gripper. Use this when you want to grip an object Open (internal grip), for example. Tap to fully close the gripper. Use this when you want to grip an object Close (external grip), for example.
  • Page 108 Warning If the gripper is powered and activated, it will move as soon as a change to the parameter is made (position, speed, force). Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is recommended to use maximum speed and force.
  • Page 109 Fig. 4-33: 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. 2F-85 & 2F-140 - Instruction Manual...
  • Page 110 About In this window, the user can access information such as the gripper's hardware, software and firmware versions, the number of cycles completed by the device and more. Create or load a robot program Tap the Installation tab Select Gripper in the left pane Tap the About submenu Fig.
  • Page 111 Advanced Gripper Functions The use of Gripper URCaps nodes allows to move the gripper and modify its speed and force. However, some advanced functions are only available through UR Script commands. The functions listed below can be called using subprograms in PolyScope or with a script. Functions with the suffix _and_wait will wait for the gripper to complete its operation before going to the next step.
  • Page 112 Single and Multiple Grippers (UCG-1.6.0 +) All following functions require a final but optional parameter named gripper_socket. This parameter represents the gripper identifier as defined in the installation node. By default, the value of gripper_socket is 1. The admissible values are 1, 2, 3 and 4. Name Description Sends the gripper activation command.
  • Page 113 Name Description rq_open_and_wait() Moves the gripper to its fully opened position and waits until the motion is completed. rq_reset() Resets the gripper's activation status. Use after an autorelease before activating the 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%.
  • Page 114 Multiple Grippers Here is an example of how to use the script commands with more than one gripper. Fig. 4-36: Example of UR script commands with multiple Grippers 2F-85 & 2F-140 - Instruction Manual...

  • Page 115: 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 the Robotiq 2-Finger 85 and 140 Adaptive Grippers. Technical dimensions section Dimensions of the Gripper Dimensions of couplings Dimensions for custom fingertips Dimensions of standard fingertips...

  • Page 116: Technical Dimensions

    5.1. Technical dimensions 5.1.1. 2-Finger 85 and 2-Finger 140 Gripper The 2-Finger 85 and 2-Finger 140 share the same basic chassis and thus have the same technical dimensions for everything except the fingers. The figure below represents the Robotiq 2-Finger 85 Adaptive Gripper's dimensions with axis X, Y, Z and origin referenced for finger motion.
  • Page 117 Fig. 5-2: 2F-85 dimensions (closed). Fig. 5-3: General dimension of 2F-140 (opened). 2F-85 & 2F-140 - Instruction Manual...
  • Page 118 Fig. 5-4: 2F-140 dimensions (closed). The height and width of the fingers vary with opening position. Fig. 5-3 represents the 2F-140 Gripper in the opened position (position request = 0), while Fig. 5-4 represents the 2F-140 Gripper in the closed position (position request = 255). 2F-85 & 2F-140 - Instruction Manual...
  • Page 119 5.1.2. Couplings The 2-Finger Adaptive Gripper requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Info The coupling is common to both the 2F-85 and the 2F-140. Coupling for ISO 9409-1-50-4-M6 Bolt pattern for couplings GRP-CPL-062 and GRP-ES-CPL-062 (refer to the Spare Parts, Kits and Accessories section) is compatible with: 50 mm pitch circle diameter :...
  • Page 120 5.1.3. Fingertips The contact grip points for the Robotiq 2-Finger Adaptive Gripper are its two fingertips and palm pad. 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 distal phalanx (which acts as the fingertip holder).
  • Page 121 Flat Rubber (NBR) Overmolded Fingertip The figure below represents a flat rubber (NBR) overmolded fingertip (AGC-TIP-MLD-KIT-85 for 2F-85 and AGC-TIP-MLD-KIT-140 for 2F-140). For details, see the Spare Parts, Kits and Accessories section. Fig. 5-7: Flat Rubber (NBR) Overmolded Fingertip for 2F-85 Fig.
  • Page 122 Grooved fingertip The figure below represents the available grooved fingertip AGC-TIP-205-085 (2-Finger 85) and AGC-TIP-421-140 (2-Finger 140); please refer to the Spare Parts, Kits and Accessories section. This fingertip inner surface has vertical grooves, making ideal for picking cylindrical parts. Fig.
  • Page 123 5.2. Mechanical specifications Info Data shown in the table below is typical for new products, and will vary with use. 2-FINGER 85 2-FINGER 140 Specification Metric Units Imperial Units Metric Units Imperial Units Stroke 85 mm 3.35 in 140 mm 5.5 in Minimum object diameter 43 mm 1.69 in...
  • Page 124 5.2.1. Payload and force Friction Grip payload equation: Where: is payload weight 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.
  • Page 125 Friction grasp and form-fit grasp Maximum payload by grasp type Grasp Type 2F-85 2F-140 Friction grasp 5 kg 2.5 kg Form-fit grasp 5 kg 2.5 kg 2F-85 & 2F-140 - Instruction Manual...
  • Page 126 5.2.2. Equilibrium Line Equilibrium line position (explained in the General Presentation section) is detailed in the figure below, where: θ is the opening angle between the gripper proximal bar and center line D is the distance between the bottom of the fingertips and the equilibrium line as seen on the Z axis in Fig. 1-5. Fig.
  • Page 127 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. 2F-85 & 2F-140 - Instruction Manual...
  • Page 128 Info The angle to calculate the TCP for grippers mounted on a dual gripper assembly is as follows: Rx = 0 Ry+/Ry- = 0.7854 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.
  • Page 129 5.2.4. Moment and Force Limits The 2-Finger Adaptive Gripper has limits for moment and force values. The maximum moment and force values are independent of the grasp force the gripper applies on its payload. For payload calculation, refer to the Payload and force section. Warning Always operate within range.
  • Page 130 5.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Absolute maximum supply voltage 28 V DC Quiescent power (minimum power consumption) < 1 W Peak current 2F-85 & 2F-140 - Instruction Manual...
  • Page 131 6. Maintenance The Adaptive Gripper requires only external maintenance with limited downtime. Maintenance for both 2-Finger Adaptive Grippers is required after specified usage, measured in time (normal 40h week) or in cycles (see Info box below for details about cycle definition). Following the maintenance interval will ensure : Correct functioning of your gripper.
  • Page 132 Maintenance operations are for the average normal usage of the gripper, the maintenance intervals must be adjusted according to environmental conditions such as: Operating temperature Humidity Presence of chemicals Presence of physical parts (debris, scraps, dust, grease etc.) Interaction with operated parts (sharp or rough) Dynamics of the operation (accelerations) 2F-85 & 2F-140 - Instruction Manual...
  • Page 133 6.1. Gripper cleaning Maintenance Interval Tools You Need Parts You Need Flat head precision 2 mm screwdriver Weekly or daily in dirty operating 4 mm hex key None (unless damage is detected) conditions Dry tissue or towel Caution Always turn off the robot and the gripper power supply before performing any maintenance operations. Caution The maintenance operator must be grounded to prevent electrostatic discharge that could damage the gripper electronics.
  • Page 134 6.2. Periodic inspection Maintenance Interval Tools You Need Parts You Need Flat head precision 2 mm screwdriver Monthly 4 mm hex key None (unless damage is detected) Dry tissue or towel Caution Always turn off the robot and the gripper power supply before performing any maintenance operations. Remove and clean the gripper following instructions in the Gripper cleaning section.
  • Page 135 6.3. Fingertip replacement Maintenance Interval Tools You Need Parts You Need 4 mm hex key 1 Million cycles or when wear is 2 x Robotiq 2-Finger Adaptive Gripper Dry tissue or towel visible fingertip (overmolded or V-grooved). Low strength thread locker Refer to the Spare Parts, Kits and Accessories section to order Robotiq 2-Finger Adaptive Gripper replacement parts.
  • Page 136 6.4. Overhaul Maintenance Interval Tools You Need Parts You Need 2 Million cycles or at warranty expiration None None Gripper overhaul is necessary when the gripper reaches 2 Million cycles or when warranty expires. Overhaul is done by Robotiq, please contact Robotiq support service.
  • Page 137 7. Spare Parts, Kits and Accessories The following list is up to date at print time and is subject to change, check online for updates. Info Unless specified, screws, dowel pins and other hardware are only included for the grippers, and not for robots. Ordering Ordering Item...
  • Page 138 Ordering Ordering Item Description Number Number (2-Finger 85) (2-Finger 140) 2 x flat overmolded fingertips. Flat overmolded 4 x dowel pins M2 x 6 mm AGC-TIP-MLD-KIT-85 AGC-TIP-MLD-KIT-140 fingertip kit 2 x M5-0.8 x 10 mm SHCS 2 x V-grooved fingertips Grooved fingertips 2 x M5-0.8 x 10 mm SHCS AGC-TIP-205-085...
  • Page 139 To install the 2-Finger Gripper 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 the 2-Finger Gripper and Hand-E. Ordering Item Description...
  • Page 140 Adapter plate to Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD AGC-APL-153-002 80-6M8-2D82D8 with (6) M8 screws and (2) M8 dowel pins Pitch Circle Diameter For legacy part replacement visit the documentation archives and the appropriate manual or consult your Robotiq distributor. 2F-85 & 2F-140 - Instruction Manual...
  • Page 141 8. Troubleshooting 8.1. Using the LED of the 2F-Finger gripper When using 2-Finger 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 Electrical Gripper is not powered.
  • Page 142 8.2. Using the LED of the USB to RS485 converter When your 2-Finger 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. LED Status Description Solutions...
  • Page 143 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 2-Finger Adaptive Gripper cannot be controlled with the teach pendant, follow these instructions: 1.
  • Page 144 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. 8-4: Voltage set to 24V. 2F-85 & 2F-140 - Instruction Manual...
  • Page 145 9. Warranty and Patent Robotiq warrants the 2F-85 and 2F-140 Adaptive Robot Grippers 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 146 Robotiq shall not be liable for damages resulting from the use of the Robotiq 2-Finger Adaptive Robot Gripper, nor shall Robotiq be responsible for any failure in the performance of other items to which the 2-Finger Adaptive Robot Gripper is connected or the operation of any system of which the Gripper may be a part.
  • Page 147 Exclusions This warranty excludes failure resulting from: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the Gripper or other factors beyond Robotiq's control. 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 148 10. Harmonized Standards, Declarations and Certificates 10.1. Translation of original EC declaration of incorporation 2F-85 & 2F-140 - Instruction Manual...
  • Page 149 10.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq 2-Finger Adaptive 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 150 10. License Agreement END-USER LICENSE AGREEMENT YOU SHOULD CAREFULLY READ THE FOLLOWING AGREEMENT BEFORE USING THE Software (as this term is hereinafter defined). Using the Software indicates your acceptance of the agreement. If you do not agree with it, you are not authorized to use the Software.
  • Page 151 4. Modifications and Upgrades. The Licensor shall be under no obligation to provide any upgrade or modification to the Software. However, the End-User shall be entitled to receive free of charge all modifications and upgrades of the Software provided by the Licensor if, at such time, the End-User is not in default in respect of any of its obligation contained herein.
  • Page 152 User may provide the Licensor with details regarding any bug, defect or failure in the Software promptly and with no delay from such event; the End-User shall comply with the Licensor’s request for information regarding bugs, defects or failures and furnish him with information, screenshots and try to reproduce such bugs, defects or failures upon Licensor’s demand.
  • Page 153 11. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (+1) 418-380-2788 Outside US and Canada Technical support Extension 3 Sales Extension 2 Head office Robotiq: 966, chemin Olivier Suite 500 St-Nicolas, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com 2F-85 & 2F-140 - Instruction Manual...

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