ROBOTIQ 85 Instruction Manual
  1. Manuals
  2. Brands
  3. ROBOTIQ Manuals
  4. Robotics
  5. 85
  6. Instruction manual

ROBOTIQ 85 Instruction Manual

2-finger adaptive robot gripper
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
© ROBOTIQ INC. 2014
Get the latest version of the manual at support.robotiq.com
1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 85 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for ROBOTIQ 85

Summary of Contents for ROBOTIQ 85

  • Page 1 © ROBOTIQ INC. 2014 Get the latest version of the manual at support.robotiq.com...

  • Page 2: Table Of Contents

    EC Declaration of conformity ..................84 Robotiq inc. © 2014...

  • Page 3: Revisions

    Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.

  • Page 4: General Presentation

    Gripper. The 2-Finger - 85 Gripper has two articulated fingers, i.e. finger A in front of finger B, that each have two joints (two phalanxes per finger), as shown in Figure 1.1. The Gripper can engage up to five points of contact with objects (two on each of the phalanges plus the palm).
  • Page 5 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Figure 1.2 : The 2-Finger Adaptive Robot Gripper - 85 It is important to note that a fingertip grip can only be performed when the fingers touch the object with the distal phalanxes first.
  • Page 6 2-Finger Adaptive Robot Gripper - 85 internal and external gripping. The Gripper is powered and controlled via the Robotiq Universal Controller. (Figure 1.4) Upon delivery your controller will be set with the adequate communication option and ready to use. The details on the controller wiring...
  • Page 7 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual gripping an object close enough to the inside (palm) of the Gripper, the encompassing grip will occur (unless the object size or shape is not adequate) and the fingers will close around the object. If gripped above the equilibrium line, the same object will be picked up in a parallel grip and the fingers will close with a parallel motion.

  • Page 8: 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 – The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper –...

  • Page 9: Intended Use

    The unit may be used only within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.

  • Page 10: Installation

    The Gripper's fingers may move and cause injury or damage. Note The 2-Finger Adaptive Robot Gripper - 85 is meant to be used with the Robotiq Universal Controller, see the Controller Manual for details on its installation procedure.

  • Page 11: Environmental And Operating Conditions

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 3.2 Environmental and operating conditions The Gripper is designed for industrial applications. Always respect the following specified storage and operating environmental conditions: Minimum storage/transit temperature -22°F [-30°C] Maximum storage/transit temperature 140°F [60°C] Minimum operating temperature 14°F [-10°C]...

  • Page 12: Mechanical Connections

    You must use a coupling to attach the Gripper to the robot. Be sure to use the coupling related to your robot model. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you.

  • Page 13: Power Supply Specifications

    Figure 3.5.2 represent the 2-Finger-85 Device Cable connectors and the associated pinout. The M12 8-pin connector connects onto the Gripper while the 10 pin Combicon connector connects onto the Universal Controller.
  • Page 14 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Figure 3.5.2 – Pinout of the Device Cable. Robotiq inc. © 2014...

  • Page 15: Power Connection

    Respect the Robotiq Universal Controller power supply recommendations for wiring and fusing at all times. Warning The 2-Finger Adaptive Robot Gripper -85 is not designed to be hot wired, never plug the Gripper into live power. Motion may occur if the Gripper is hot wired.

  • Page 16: Control

    "Go to requested position" are used to control it. The Robotiq Universal Controller takes care of the regulation of the speed and the force prescribed, while the mechanical design of the fingers automatically adapt to the shape of object(s).
  • Page 17 Gripper. Figure 4.1.2 : Gripper memory overview from the robot controller. To control the Robotiq 2-Finger Adaptive Gripper - 85 Output Registers & Functionnalities must be written, the following is a summary of the various registers, see Robot output registers &...
  • Page 18 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Hint Object status is a built in feature that allows for object pick-up detection, see Robot input registers & status for details. Fault status - The fault status gives additional details about the cause of a fault.

  • Page 19: Status Led

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.2 Status LED The Gripper has a single LED next to the connector shown in Figure 4.2.1. A solid blue LED means the Gripper is powered. For information on the Controller LEDs, consult the Controller manual.

  • Page 20: Gripper Register Mapping

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.3 Gripper register mapping Info Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB (Most Significant Bit). Register mapping: Caution Byte numeration starts at zero and not at 1 for the functionalities and status registers.

  • Page 21: Robot Output Registers & Functionalities

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.4 Robot output registers & functionalities Register: ACTION REQUEST Address: Byte 0 Bits Symbols Reserved Reserved rARD rATR rGTO rACT rACT: First action to be made prior to any other actions, rACT bit will initialize the Adaptive Gripper.
  • Page 22 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Register: GRIPPER OPTIONS Address: Byte 1 Bits Symbol Reserved Register: GRIPPER OPTIONS 2 Address: Byte 2 Bits Symbol Reserved 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.
  • Page 23 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Figure 4.4.1 Horizontal (X axis) opening distance and corresponding position request command. Robotiq inc. © 2014...
  • Page 24 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Figure 4.4.2 Maximum height (Z axis) of the standard fingerpads corresponding to position request command. Robotiq inc. © 2014...
  • Page 25 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Register: SPEED Address: Byte 4 Bits Symbol This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not initiate a motion.

  • Page 26: Robot Input Registers & Status

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.5 Robot input registers & status Register: GRIPPER STATUS Address: Byte 0 Bits Symbols Reserved gOBJ gSTA gGTO gACT gACT : Initialization status, echo of the rACT bit (activation bit). 0x0 - Gripper reset.
  • Page 27 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Register: RESERVED Address: Byte 1 Bits Symbol Reserved Register: FAULT STATUS Address: Byte 2 Bits Symbol Reserved gFLT gFLT : Fault status returns general error messages that are useful for troubleshooting. Fault LED (red) is present on the Robotiq Universal Controller.
  • Page 28 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Register: POSITION REQUEST ECHO Address: Byte 3 Bits Symbol gPR : Echo of the requested position for the Gripper, value between 0x00 and 0xFF. 0x00 - Full opening. 0xFF - Full closing.

  • Page 29: Control Logic - Example

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.6 Control logic - example Figure 4.6.1 : Example of 2-Finger Adaptive Robot Gripper - 85 control logic with associated registers. Robotiq inc. © 2014...

  • Page 30: Modbus Rtu Communication Protocol

    Each register (word - 16 bits) of the Modbus RTU protocol is composed of registers (bytes – 8 bits) from the Gripper. The first Gripper output Modbus register (0x07D0) is composed from the first Robotiq Adaptive Gripper 2-Finger - 85 registers (byte 0 and byte 1). Robotiq inc. © 2014...

  • Page 31: Read Holding Registers (Fc03)

    4433 Cyclic Redundancy Check (CRC) Note The Adaptive Gripper 2-Finger - 85 register values are updated at a 200Hz frequency. It is therefore recommanded to send FC03 commands with a minimum delay of 5ms between them. Robotiq inc. © 2014...

  • Page 32: Preset Single Register (Fc06)

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.7.3 Preset single register (FC06) Function code 06 (FC06) is used to activate functionalities of the Gripper (robot output). Examples of such data are action request, speed, force, etc. Ex: This message requests to initialize the Gripper by setting register 0x03E8 (1000), which contains Action Request and Gripper Options, to 0x0100.

  • Page 33: Preset Multiple Registers (Fc16)

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.7.4 Preset multiple registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are action request, speed, force, etc. Ex: This message requests to set position request, speed and force of the Gripper by setting register 0x03E9 (1001) and 0x03EA.

  • Page 34: Master Read & Write Multiple Registers (Fc23)

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.7.5 Master read & write multiple registers (FC23) Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of the Gripper (robot output) simultaneously .
  • Page 35 4727 Cyclic Redundancy Check (CRC) Note The Adaptive Gripper 2-Finger - 85 register values are updated at a 200Hz frequency. It is therefore recommended to send FC23 commands with a minimum delay of 5ms between them. Robotiq inc. © 2014...

  • Page 36: Modbus Rtu Example

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.7.6 Modbus RTU example This section depicts the example given in Section 4.8 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 37 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Request is: 09 03 07 D0 00 01 85 CF where Bits Description SlaveID Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0001 Number of registers requested (1)
  • Page 38 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes) 3100 Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper...
  • Page 39 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Response is: 09 10 03 E8 00 03 01 30 where Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers...
  • Page 40 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 3900 Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation",...
  • Page 41 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) B900 Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation",...
  • Page 42 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where 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...
  • Page 43 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Step 8: Read Gripper status until the opening is completed Request is: 09 03 07 D0 00 03 04 0E where Bits Description SlaveID Function Code 03 (Read Holding Registers) 07D0...
  • Page 44 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 09 03 06 F9 00 00 00 0D 00 56 4C where Bits Description SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (3 registers x 2...

  • Page 45: Modbus Tcp Communication Protocol

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.8 MODBUS TCP communication protocol The Robotiq 2-Finger Adaptive Robot Gripper - 85 can be controlled using the Modbus TCP/IP protocol (note that this is an option). This section is intended to provide guidelines for setting up a Modbus TCP/IP communication to adequately send commands and read input from the Gripper.

  • Page 46: Read Input Registers (Fc04)

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.8.2 Read input registers (FC04) Function code 04 (FC04) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object status, finger position, etc. For example, this message asks for registers 0x0000 (0000) to 0x0006 (0006) which contain all the robot input statuses.

  • Page 47: Preset Multiple Registers (Fc16)

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.8.3 Preset multiple registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are action request, position request, speed, force, etc.

  • Page 48: Modbus Tcp Example

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.8.4 Modbus TCP example This section depicts the example given in Section 4.8 when programmed using the Modbus TCP 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 49 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description 339A Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0006 Length SlaveID Function Code 16 (Preset Multiple Registers) 0000 Address of the first register 0003 Number of written registers...
  • Page 50 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Response (if the activation IS NOT completed): 45 33 00 00 00 05 02 04 02 11 00 where Bits Description 4533 Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus)
  • Page 51 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description 71EE Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 000D Length SlaveID Function Code 16 (Preset Multiple Registers) 0000 Address of the first register 0003 Number of registers written to...
  • Page 52 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Response is: 71 EE 00 00 00 06 02 10 00 00 00 03 where Bits Description 71EE Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0006 Length SlaveID Function Code 16 (Preset Multiple Registers)
  • Page 53 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description 776B Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0009 Length SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2...
  • Page 54 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description 776B Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0009 Length SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2...
  • Page 55 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description 34AB Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 000D Length SlaveID Function Code 16 (Preset Multiple Registers) 0000 Address of the first register 0003 Number of registers to write to...
  • Page 56 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Request is: D6 05 00 00 00 06 02 04 00 00 00 03 where Bits Description D605 Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0006 Length SlaveID Function Code 04 (Read Input Registers)
  • Page 57 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description D605 Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0009 Length SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2...
  • Page 58 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual where Bits Description D605 Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0009 Length SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (3 registers x 2...

  • Page 59: Application With Universal Robots

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 4.8.5 Application with Universal Robots This section contains some additional information related to the communication between the Gripper and the Univer sal Robots model UR-5 UR-10 using the Modbus TCP protocol.

  • Page 60: User Interface

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 5. User Interface Visit http://support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. See the Robotiq User Interface Instruction Manual for details on usage of the RUI.

  • Page 61: Specifications

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6. Specifications 6.1 Technical dimensions Figure 6.1.1 : Robotiq 2-Finger Adaptive Robot Gripper - 85 technical dimensions. Gripper opening illustrated in figure 6.1. is detailed in Section 4.4 with opening width (axis X) and height of the fingertip (axis Z).

  • Page 62: Mechanical Specifications

    2. Actuation force model used to calculate recommended payload is described in Figure 6.2.1 : Figure 6.2.1 : Actuation force on the fingertip of the Adaptive Gripper 2-Finger - 85. Info The "Actuation Force"...
  • Page 63 Note The 2-Finger-85 Gripper also have a torque limit. Figure 6.2.2 represent maximum payload with distance between fingertip and payload center of mass. Figure 6.2.2 : Maximum payload center of mass distance from the fingertips to respect maximum torque.

  • Page 64: Moment Of Inertia And Center Of Mass

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.3 Moment of inertia and center of mass The coordinate system used for calculating the moment of inertia and center of mass of the Gripper is shown in Figu re 6.1.1 .

  • Page 65: Electric Ratings

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.4 Electric ratings Electrical Specification Value Operating Supply Voltage 24 V Absolute Maximum Supply Voltage 28 V Quiescent Power (minimum power consumption) Peak Power (at maximum gripping force) 41 W Maximum RMS Supply Current (supply voltage at 24V) 1.7 A...

  • Page 66: Couplings

    6.5.1 Blank coupling The 2-Finger Adaptive Robot Gripper - 85 blank coupling can be used to create a custom coupling between the Gripper and your robot. Provided screw clearance is meant for installation on the Gripper. Top face shown in Figure 6.5.1.1 is meant to be on the wrist side, while the bottom face is meant to be on the robot side.

  • Page 67: Iso 9409-1-31.5-4-M5 Coupling

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.5.2 ISO 9409-1-31.5-4-M5 Coupling Figure 6.5.2.1 : ISO 9409-1-31.5-4-M5 Coupling for the Adaptive Gripper 2-Finger - 85. Robotiq inc. © 2014...

  • Page 68: Iso 9409-1-40-4-M6 Coupling

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.5.3 ISO 9409-1-40-4-M6 Coupling Figure 6.5.3.1 : ISO 9409-1-40-4-M6 Coupling for the Adaptive Gripper 2-Finger - 85. Robotiq inc. © 2014...

  • Page 69: Iso 9409-1-50-4-M6 Coupling

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.5.4 ISO 9409-1-50-4-M6 Coupling ISO 9409-1-50-4-M6 Coupling is used on Universal Robot UR5 UR10 (among others) Figure 6.5.4.1 : ISO 9409-1-50-4-M6 Coupling for the Adaptive Gripper 2-Finger - 85. Note that the dowel pin hole is outside of the permissible range, thus, if you need dowel pins for alignment the use of an Adapter plate is necessary.

  • Page 70: Baxter Coupling

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 6.5.5 Baxter Coupling The following Coupling was created to fit the Robotiq 2-Finger-85 Gripper on a Baxter robot. Fixation on the robot is done via M4 Button Head Cap Screw (BHCS) while fixation on the Gripper is done with the usual #6-32 X 1/4 Flat Head Cap Screws.

  • Page 71: Finger Pad Installation And Customization

    Insert the black polyurethane Finger Pad Cover (provided with standard finger pads). Figure 6.6.1 : Assembly of standard C-015 Finger Pad or custom pad to the Robotiq 2-Finger - 85 Gripper . You can design your own custom finger pads to fit the Distal Phalanx detailed in Figure 6.6.2.
  • Page 72 Modifying the Gripper fingers by any means (drilling holes, adding fixtures, etc.) without Robotiq Engineering Service approval does not respect safety measures and warranty conditions. Never modify the Gripper without consent from Robotiq. Figure 6.6.2 : Robotiq 2-Finger - 85 Distal Phalanx dimensions for standard Finger Pad design. Robotiq inc. © 2014...

  • Page 73: Maintenance

    Periodic Inspection Finger Pads Replacement Overhaul Replace pads before if wear is visible. Overhaul is recommended after 2M cycles and is done by Robotiq at the user's expense, please contact Robotiq support. Visit support.robotiq.com for details on the required maintenance operations.

  • Page 74: Gripper Cleaning

    Flat head screwdriver None conditions Dry tissue or towel Reminder The Robotiq 2-Finger Adaptive Robot Gripper - 85 is not waterproof or water resistant without additional protection, only clean the Gripper with a dry towel. Note Always turn off the robot and Gripper power supply before performing any maintenance operations on the Gripper.

  • Page 75: Periodic Inspection

    Finger pad wear must not affect gripping, if wear is visible and affects movement, change finger pad(s). Check for any collision damage, if damage is visible, contact Robotiq support. Check for any sign of wear on the Gripper chassis, if wear is present and may affect the Gripper, contact Robotiq support.

  • Page 76: Finger Pad Replacement

    Dry tissue or towel Robot Gripper - 85 polyurethane pads. Spare parts and accessories section to order Robotiq 2-Finger Adaptive Robot Gripper - 85 replacement parts. Note Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper.

  • Page 77: Overhaul

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 7.4 Overhaul Maintenance interval Tools you need Parts you need 2 Mio. cycles or at warranty None None expiration Gripper overhaul is necessary when the Gripper reaches 2 Mio. cycles or when warranty is expired. Overhaul is done by Robotiq, please contact Robotiq support service.

  • Page 78: Spare Parts, Kits And Accessories

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 8. Spare Parts, Kits and Accessories Spare parts, kits and accessories list : The following list is up to date at print time and is subject to change, check online for updates.
  • Page 79 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual Baxter Coupling Coupling for Baxter robot, screws AGC-CPL-610 included C-611 Coupling with three (3) M3 screw AGC-CPL-611 clearance and one (1) M3 Dowel Pin on 23 mm PCD C-612 Coupling with four (4) M4 screw...
  • Page 80 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 2-Finger-85 Device Cable 10 m communication cable (Gripper CBL-COM-2063-10 (10M) Signal Cable) for use between the Robotiq 2-Finger Adaptive Robot Gripper - 85 and its controller unit. Right angle M12 8-pin female and Combicon 10-pin.

  • Page 81: Troubleshooting

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 9. Troubleshooting If your Gripper is not working, check the following : Check the blue LED on the Gripper : It's ON : Check communications (step 2) It's OFF : Check the blue LED on the controller...
  • Page 82 Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual DeviceNet: Requires a separate power supply (see DeviceNet section of the Robotiq Universal Controller manual Master communication device must use the same protocol and the same option settings as the controller for the Gripper.

  • Page 83: Warranty

    Gripper may be a part. Exclusion 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 84: Contact

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual 11. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) 1-418-800-0045 (outside US and Canada) 1-418-800-0046 Technical support and Engineering 1-866-508-1997, extension 207 Sales US 1-812-220-4578 Sales Canada, Europe and Asia 1-418-800-0045 Head office...

  • Page 85: Ec Declaration Of Conformity

    Robotiq 2-Finger Adaptive Robot Gripper - 85 Instruction Manual EC Declaration of conformity Robotiq inc. © 2014...

Table of Contents