ROBOTIQ 2-Finger 85 Instruction Manual
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ROBOTIQ 2-Finger 85 Instruction Manual

Adaptive robot gripper
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Summary of Contents for ROBOTIQ 2-Finger 85

  • Page 1 Get the latest version of the manual at support.robotiq.com © ROBOTIQ INC. 2016...

  • Page 2: Table Of Contents

    A2. Applied standards ..................127 Robotiq inc. © 2016...

  • Page 3: Revisions

    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 4: General Presentation

    . 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 (2-Finger 85 Adaptive Gripper) or 140 mm (2-Finger 140 Adaptive Gripper). Both versions use the same base, installation and control will be exactly the same.
  • Page 5 Robotiq 2-Finger Adaptive Gripper Instruction Manual Gripper nomenclature : The 2-Finger Gripper has two articulated fingers 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 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 6 2-Finger 85 vs 2-Finger 140 : The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140) according to Figure 1.2. the Gripper chassis will remain the same, only the fingers will change, see Section 3.4...
  • Page 7 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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 grip or encompassing grip as shown in Figure 1.3.
  • Page 8 Robotiq 2-Finger Adaptive Gripper Instruction Manual The 2-Finger Adaptive Robot Gripper also offers internal gripping. The fingers can pick hollow parts from the inside by applying pressure with the outside of the fingers. See Figure 1.4 for a representation and see for details on the Section 4.5...
  • Page 9 Robotiq 2-Finger Adaptive Gripper Instruction Manual The Gripper equilibrium line is the gripping region that separates the encompassing grip from the parallel grip. When 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.
  • Page 10 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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, see Section 3.5 for wiring information and Section 4 for control of the Gripper (various software packages are available for control via various robot controllers).

  • Page 11: 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. The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper:...

  • Page 12: Warning

    Risk assessment and final application : The Robotiq 2-Finger 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 respected. Depending on the application, there may be risks that need additional protection/safety measures, for example, the work-piece the Gripper is manipulating may be inherently dangerous to the operator.

  • Page 13: Intended Use

    Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. 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 14: Installation

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3. Installation The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper. Section 3.1 details the scope of delivery for the 2-Finger, verify your package.

  • Page 15: Scope Of Delivery

    Power supply units, power supply wiring or fuses. Info When bought as a kit, the 2-Finger 85 or 140 will come in a package with the appropriate coupling, fingertips or finger pads and cabling. See Spare Parts, Kits and Accessories section Robotiq inc.

  • Page 16: 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 17: Environmental And Operating Conditions

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3.3 Environmental and operating conditions The Gripper is designed for industrial applications. Always respect the following specified storage and operating environmental conditions: CONDITION VALUE Minimum storage/transit temperature -30°C [-22°F] Maximum storage/transit temperature 60°C [140°F] Minimum operating temperature -10°C [14°F]...

  • Page 18: Mechanical Installation

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3.4 Mechanical installation Installing fingers on the Gripper : Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers.
  • Page 19 Robotiq 2-Finger Adaptive Gripper Instruction Manual Installing the fingertips or finger pads on the Gripper : Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so : Align the fingertip indexing pin to the fingertip dowel hole.
  • Page 20 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. Some couplings may require an additional adapter plate. To create your own...

  • Page 21: Electrical Setup

    Power and communication are established with the 2-Finger Adaptive Robot Gripper via a single Device Cable. The Device Cable provides a 24V power supply to the Gripper and enables serial RS-485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the Gripper and the network / robot controller if fieldbus communication is required.
  • Page 22 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 3.5.2 : Robotiq 2-Finger electrical isolation / grounding. Warning Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller-side (robot side) connector of the cable with a strain relief cable clamp.
  • Page 23 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 3.5.3 : Pinout of the 2-Finger pigtail and device cable. If additional cable is used, suggested cable specifications are as follow : Power supply, fusing : minimum #22 AWG TEW, 300 V or 600 V...

  • Page 24: Testing The Gripper

    Instruction Manual 3.6 Testing the Gripper Once installed and properly secured, your Robotiq 2-Finger Adaptive Robot Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. To do so : Follow the instructions to install the Robotiq User Interface.
  • Page 25 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 3.6.2 : Wiring possibilities of the USB to RS-485 converter. With the R.U.I. controlling the Gripper, you can go to the "view" menu to see input and output register values to further your understanding on how to command the Gripper.

  • Page 26: Installation For Universal Robots

    Instruction Manual 3.7 Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots’ controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the 2-Finger Gripper URCaps Package.

  • Page 27: Urcaps Package

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3.8 URCaps Package Robotiq provides you with a Universal Robots URCaps package that enables direct serial communication (via USB) to your controller. Info To get the URCaps package for your UR controller, visit support.robotiq.com Make sure the 2-Finger Gripper is properly mounted to the robot arm.

  • Page 28: Installation

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3.8.1 Installation Make sure the 2-Finger Gripper is properly mounted to the robot arm. Refer to Section 3.4 for detailed information on the mechanical installation. Before proceeding with the installation of the URCaps package, make sure your Universal Robots’ controller is compatible with the package (refer to Section 3.7).
  • Page 29 Robotiq 2-Finger Adaptive Gripper Instruction Manual Tap the plus button (+) to add the Gripper’s URCaps package. Open Robotiq_2-Finger_Adaptive_Gripper_Sensor-X.X.X.urcap. Restart Polyscope to complete the URCaps installation. By doing so, you accept the License Agreement that is detailed in the URCap Information text box (see below for the License Agreement).

  • Page 30: Uninstalling Urcaps Package

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 3.8.2 Uninstalling URCaps Package If you wish to uninstall the 2-Finger Gripper URCaps, follow this procedure: Go in Setup Robot. Tap URCaps Setup. In the Active URCaps text box, tap the Gripper URCaps. The Gripper URCaps should be highlighted.

  • Page 31: License Agreement

    “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 325-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced manufacturing and sale of robotic products (the “Licen sor’s Business”);...
  • Page 32 Robotiq 2-Finger Adaptive Gripper Instruction Manual THE Software WILL MEET THE END-USER REQUIREMENTS OR THAT THE OPERATION OF THE Software WILL BE CORRECT. FURTHERMORE, LICENSOR AND LICENSOR’S AUTHORIZED REPRESEN-TATIVES DO NOT WARRANT OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE USE OF THE Software IN TERMS OF ITS CORRECTNESS, ACCURACY, RELIABILITY, OR OTHERWISE.

  • Page 33: Ur Package Without Urcaps

    The URCaps package also contains a driver package that is different from this section’s. If you have already installed the URCaps, you do not need to install the driver package. This section applies to Robotiq’s software excluding the URCaps package. If you wish to use the URCaps package, refer to Sections 4.2.1...

  • Page 34: Installation

    Instruction Manual 3.9.1 Installation To install the driver package, follow this procedure: Download the Robotiq 2-Finger Gripper software driver package (DCU-X.X.X) at support.robotiq.com Extract the content of the .zip file onto a blank USB flash drive. Plug the flash drive into the robot controller or teach pendant.

  • Page 35: Control

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4. Control Info Unless specified, all values in Section 4 are hexadecimal values. Robotiq inc. © 2016...

  • Page 36: Overview

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.1 Overview The Robotiq 2-Finger Adaptive Gripper is controlled directly via Modbus RTU using a RS 485 signal. It can also be controlled via an optional Robotiq Universal Controller using an industrial protocol. The programming of the Gripper can be done with the Teach Pendant of the robot or by offline programming.
  • Page 37 Robotiq 2-Finger Adaptive Gripper Instruction Manual Control using registers: The Gripper has an internal memory that is shared with the robot controller. One part of the memory is for the robot output; gripper functionalities. The other part of the memory is for the robot input; gripper status. Two types of actions can then be done by the robot controller :...

  • Page 38: Gripper Register Mapping

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.2 Gripper register mapping 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...

  • Page 39: Robot Output Registers & Functionalities

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.3 Robot output registers & functionalities 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 initialize the Adaptive Gripper. Clear rACT to reset the Gripper and clear fault status.
  • Page 40 Info Robotiq Adaptive Gripper auto-calibration will allow the Gripper to adjust to any fingertips. No matter the size and shape of the fingertips used, 0 will always be fully opened and 255 fully closed, with a quasi-linear relationship between 0 and 255.
  • Page 41 Robotiq 2-Finger Adaptive Gripper 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 0x00 - Minimum speed 0xFF - Maximum speed Robotiq inc.
  • Page 42 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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 while in motion. If the current limit is exceeded, the fingers stop and trigger an object detection notification.

  • Page 43: Robot Input Registers & Status

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.4 Robot input registers & status Register: GRIPPER STATUS Address: Byte 0 Bits Symbols gOBJ gSTA gGTO Reserved gACT gACT : Initialization status, echo of the rACT bit (activation bit). 0x0 - Gripper reset.
  • Page 44 Robotiq 2-Finger Adaptive Gripper Instruction Manual Register: RESERVED Address: Byte 1 Bits Symbol Reserved Register: FAULT STATUS Address: Byte 2 Bits Symbol kFLT gFLT gFLT : Fault status returns general error messages that are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis, LED can be blue, red or both and be solid or blinking.
  • Page 45 Robotiq 2-Finger Adaptive Gripper 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. Register: POSITION...

  • Page 46: Picking Features : Force Control, Re-Grasp And Object Detection

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.5 Picking features : Force control, Re-grasp and Object detection. As stated in previous sections, object picking is done via a simple "Go To " command, rGTO bit calls for movement, while byte is the aimed position, will be the desired speed and force settings respectively.
  • Page 47 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 4.5.1 : Grip force on hardness 220 HV (4340 annealed carbon steel). Robotiq inc. © 2016...
  • Page 48 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 4.5.2 : Grip force on hardness 95 HV (6061-T6 aluminium). Robotiq inc. © 2016...
  • Page 49 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 4.5.3 : Grip force on hardness 60A (silicone). Figure 4.5.4 : Grip force on hardness 40 A (silicone). Robotiq inc. © 2016...
  • Page 50 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 4.5.5 : Grip force on hardness 10 A (neoprene). Figure 4.5.6 : Grip force on hardness 30 OO (polyurethane). Robotiq inc. © 2016...
  • Page 51 Robotiq 2-Finger Adaptive Gripper Instruction Manual Re-grasp : Return to top Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature will allow 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 (rPR) request.
  • Page 52 Robotiq 2-Finger Adaptive Gripper Instruction Manual Object detection : Return to top When the Gripper grabs an object, gOBJ status will allow you to know if object retention was successful. This is a built-in feature for the 2-Finger Grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection feature will change the...

  • Page 53: Control Logic - Example

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.6 Control logic - example Figure 4.6.1 : Example of the 2-Finger control logic with associated registers. Robotiq inc. © 2016...

  • Page 54: Modbus Rtu Communication

    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. As such, the data parts of Modbus RTU messages are sent with the less significant byte first.

  • Page 55: Connection Setup

    Robotiq Gripper bytes (byte 0 and byte 1). Info 200 Hz is the usual speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send commands with a minimum delay of 5 ms between them. Info...

  • Page 56: Read Holding Registers (Fc03)

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.7.2 Read holding registers (FC03) Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object status, finger position, etc. Example of FC03 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 57: Preset Multiple Registers (Fc16)

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.7.3 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, 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 (1001) and 0x03EA.

  • Page 58: Master Read & Write Multiple Registers Fc23

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 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 functionalities of the Gripper (robot output) simultaneousl . Examples of such data are Gripper status, object status, finger position, etc. Action requests are speed, force, etc.

  • Page 59: Modbus Rtu Example

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.7.5 Modbus RTU example This section depicts the example given in Section 4.6 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. It moves again to a second location to release the gripped object.
  • Page 60 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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...
  • Page 61 Robotiq 2-Finger Adaptive Gripper Instruction Manual Step 2: Read Gripper status until the activation is completed Request is: 09 03 07 D0 00 01 85 CF Bits Description SlaveID Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register...
  • Page 62 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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...
  • Page 63 Robotiq 2-Finger Adaptive Gripper Instruction Manual Step 5: Read Gripper status until the grip is completed Request is: 09 03 07 D0 00 03 04 0E Bits Description SlaveID Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register...
  • Page 64 Robotiq 2-Finger Adaptive Gripper Instruction Manual Example of response if the grip is completed 09 03 06 B9 00 00 FF BD 00 1D 7C 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", gGTO = 1 for "Go to Position...
  • Page 65 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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...
  • Page 66 Robotiq 2-Finger Adaptive Gripper Instruction Manual Step 8: Read Gripper status until the opening is completed Request is: 09 03 07 D0 00 03 04 0E Bits Description SlaveID Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register...
  • Page 67 Robotiq 2-Finger Adaptive Gripper Instruction Manual Example of response if the opening is completed 09 03 06 F9 00 00 00 0D 00 56 4C Bits Description SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) F900 Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position...

  • Page 68: Control Over Universal Robots With Urcaps

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.8 Control over Universal Robots with URCaps The URCaps package contains many features to program and control the Gripper. The package provides: Gripper toolbar The Gripper toolbar is automatically installed with the URCaps package. It allows jogging and testing of the Gripper. It is a great tool to try grasps with the Gripper while programming.

  • Page 69: Gripper Toolbar

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.8.1 Gripper Toolbar Toobar Installation The Gripper URCaps package contains the Gripper toolbar. Therefore, the toolbar is automatically installed with the URCaps package. The Gripper toolbar can be installed and used without the URCaps package (see Section 4.1.3 for information on how to install the toolbar and the driver package without the URCaps).
  • Page 70 Robotiq 2-Finger Adaptive Gripper Instruction Manual Features Gripper activation window Primary icon Secondary icon Functionality Description name 2-Finger Gripper Tap to toggle between expand and collapse the 2-Finger Gripper toolbar. When grey, the toolbar functionality is not available. Activate Tap to activate the 2-Finger Gripper. The Gripper will fully open and close to set the zero of the position value.
  • Page 71 Robotiq 2-Finger Adaptive Gripper Instruction Manual Gripper operation window Primary icon Secondary icon Functionality Description name 2-Finger Gripper Tap to toggle between expand and collapse the 2-Finger Gripper toolbar. When grey, the toolbar functionality is not available. Activate Tap to fully open the Gripper.

  • Page 72: Gripper Node

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.8.2 Gripper Node Gripper Node : To add and edit a Gripper node inside your robot program, follow the steps bellow : Tap on Program Robot Open an empty program or load one. Go in the Structure tab.
  • Page 73 Robotiq 2-Finger Adaptive Gripper Instruction Manual Gripper activation The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script at the beginning of the program or activate with the Gripper toolbar.
  • Page 74 Robotiq 2-Finger Adaptive Gripper Instruction Manual When the Gripper action is to close, a green "Close" icon appears. When the Gripper action is to open, a green "Open" icon appears. Robotiq inc. © 2016...
  • Page 75 Robotiq 2-Finger Adaptive Gripper Instruction Manual Features Primary icon Secondary Functionality Description icon 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.
  • Page 76 Robotiq 2-Finger Adaptive Gripper Instruction Manual Edit action screen Tap Edit action from the Command window and use the Edit action screen to edit the Gripper’s parameters by adjusting its position, speed and force. In normal usage, the Gripper will move as soon as you change the position setting. The Gripper will not move if it is not powered, connected and activated.
  • Page 77 Robotiq 2-Finger Adaptive Gripper Instruction Manual Features Primary icon Secondary Functionality Description icon name Open Tap to fully open the Gripper. Use this when you want to grip an object (internal grip). Close Tap to fully close the Gripper. Use this when you want to grip an object (external grip).
  • Page 78 Robotiq 2-Finger Adaptive Gripper Instruction Manual Warning If the Gripper is powered and initialized, it will move as soon as a change to the parameter is made (position, speed, force). Info For detailed force and speed control, see Section 4.5 Force Control Hint Change speed and force when grasping fragile objects or other specific parts.

  • Page 79: Control Over Universal Robots Without Urcaps

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.9 Control over Universal Robots without URCaps If your Universal Robots’ controller is not compatible with the URCaps package (see Section 3.7 for compatibility), you can install the driver package. This package allows programming of the Gripper with scripts in a Polyscope program. It includes program templates and examples to help you get started with your own custom program.

  • Page 80: Gripper Toolbar

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.9.1 Gripper Toolbar Overview The Gripper toolbar is automatically installed with the driver package. The Gripper toolbar allows you to jog and test the Gripper. It is a great tool to try grasps with the Gripper while programming.
  • Page 81 Robotiq 2-Finger Adaptive Gripper Instruction Manual Gripper operation window Primary icon Secondary icon Functionality Description name 2-Finger Gripper Tap to expand and collapse the 2-Finger Gripper UR toolbar. When grey, the functionality is toolbar not available. Open Tap to fully open the Gripper.
  • Page 82 When communication with the Gripper is not established, the expanded toolbar shows the driver version: The driver state "RQ_STATE_INIT" means the driver is attempting to connect to a Robotiq Gripper. When connection is established, the normal toolbar detailed above will appear.

  • Page 83: Demo Scripts

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.9.2 Demo Scripts The following section details the demo scripts provided with the driver package. pick_and_place_demo_with_subprograms.script is a demo script for pick and place applications using provided subprograms. The script uses subprograms included in the package such as rq_set_force rq_set_speed , etc.

  • Page 84: Custom Programs

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.9.3 Custom Programs You can create your own program that commands the Gripper with the provided templates : Open basic_template.script in the list of provided templates; Push play to test the Gripper. The program will activate the Gripper and then do a loop of closing and opening the Gripper;...

  • Page 85: Provided Variables And Functions

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 4.9.4 Provided Variables and Functions The file rq_script.script contains function definitions and variables that enhance the programming of the Gripper. Here is the list of these variables and functions. Variables are used when programming the Gripper using subprograms. Since it is not possible to pass arguments to subprograms, the global variables listed below must be used.
  • Page 86 Robotiq 2-Finger Adaptive Gripper Instruction Manual 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 87: User Interface

    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 Robotiq User Interface. Robotiq inc. © 2016...

  • Page 88: Specifications

    Reminder The following manual uses the metric system, unless specified, all dimensions are in millimeters. The following sub-sections provide data on the various specifications for the Robotiq 2-Finger 85 and 140 Adaptive Grippers. Section 6.1 technical dimensions of the Grippers...

  • Page 89: Technical Dimensions

    6.1 Technical dimensions 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. Figure 6.1.1 represents the Robotiq 2-Finger 85 Adaptive Robot Gripper's dimensions with axis X, Y, Z and origin referenced for finger motion. Figure 6.1.3 will show the equivalent with 140 mm fingers (2-Finger 140).
  • Page 90 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 6.1.2 : 2-Finger 85 dimensions (closed). Robotiq inc. © 2016...
  • Page 91 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 6.1.3 : 2-Finger 140 general dimensions (opened). Robotiq inc. © 2016...
  • Page 92 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 6.1.4 : 2-Finger 140 dimensions (closed). As mentioned above Figure 6.1.3, height and width of the fingers vary with opening position. Figure 6.1.3 represents the 2F140 Gripper in the opened position (position request = 0), while Figure 6.1.4 represents the 2F140 Gripper in the closed position (position request = 255).

  • Page 93: Couplings

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 6.1.1 Couplings The Robotiq 2-Finger Adaptive Robot 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 2-Finger 85 and the 2-Finger 140.

  • Page 94: Coupling For Iso 9409-1-50-4-M6

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling AGC-CPL-062-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 50 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance...

  • Page 95: Coupling For Iso 9409-1-31.5-4-M5

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for ISO 9409-1-31.5-4-M5 Bolt pattern for coupling AGC-CPL-063-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 31.5 mm pitch circle diameter : (4) M5-0.8 low head s ocket cap screw clearance (1) M5 indexing pin ISO 9409-1 standard 31.5-4-M5...

  • Page 96: Coupling For Iso 9409-1-40-4-M6

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for ISO 9409-1-40-4-M6 Bolt pattern for coupling AGC-CPL-064-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 40 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance...

  • Page 97: Coupling For Pcd 56 With 8 X M4

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for PCD 56 with 8 x M4 Bolt pattern for coupling AGC-CPL-065-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 56 mm pitch circle diameter : (8) M4-0.7 low head...

  • Page 98: Coupling For Pcd 56 With 6 X M4

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for PCD 56 with 6 x M4 Bolt pattern for coupling AGC-CPL-066-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 56 mm pitch circle diameter : (6) M4-0.7 low head...

  • Page 99: Coupling For Pcd 60 With 4 X M5

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for PCD 60 with 4 x M5 Bolt pattern for coupling AGC-CPL-067-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 60 mm pitch circle diameter : (4) M5-0.8 low head...

  • Page 100: Coupling For Pcd 63 With 6 X M6

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Coupling for PCD 63 with 6 x M6 Bolt pattern for coupling AGC-CPL-068-002 (see Spare Parts, Kits and Accessories section ) is compatible with : 63 mm pitch circle diameter : (6) M6-1.0 low head...

  • Page 101: Fingertips

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 6.1.2 Fingertips The contact grip points for the Robotiq 2-Finger Adaptive Robot Gripper are its two fingertip pads and the palm pad. Many fingertips are available from Robotiq (see Spare Parts, Kits and Accessories section).

  • Page 102: Blank Fingertip

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Blank fingertip Figure 6.1.2.2 represents a blank fingertip AGC-TIP-203-002 (2-Finger 85) and AGC-TIP-225-140 (2-Finger 140) see Spare Parts, Kits and Accessories section . This fingertip is meant for the customization of one surface (it is symmetric) while the other surface will mount onto the fingertip holder shown in tion 6.1.2...

  • Page 103: Flat Silicone Fingertip

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Flat silicone fingertip Figure 6.1.2.3 represents a flat silicone fingertip AGC-TIP-204-002 (2-Finger 85) and AGC-TIP-220-140 (2-Finger 140), see Spare Parts, Kits and Accessories section . This fingertip has a flat silicone surface with an optimal friction coefficient for picking parts while the other surface will mount onto the fingertip holder shown in Section 6.1.2...

  • Page 104: Grooved Fingertip

    Robotiq 2-Finger Adaptive Gripper Instruction Manual Grooved fingertip Figure 6.1.2.4 represents the available grooved fingertip AGC-TIP-205-002 (2-Finger 85) and AGC-TIP-221-140 (2-Finger 140), see Spare Parts, Kits and Accessories section . This fingertip has a grooved surface with an optimal shape for picking cylindrical parts (by its horizontal and vertical grooves) while the other surface will mount onto the fingertip holder shown in Section 6.1.2...

  • Page 105: Mechanical Specifications

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 6.2 Mechanical specifications Specifications : 2-FINGER 85 2-FINGER 140 Specification Metric units Imperial Units Metric units Imperial Units Gripper Opening (see Figure 6.1.1 85 mm 3.35 in 140 mm 5.5 in Minimum diameter for encompassing 43 mm 1.69 in...
  • Page 106 Actuation force model used to calculate recommended payload is described in Figure 6.3.1, the user must not exceed the force (F) and torque (T) limits : Figure 6.2.1 : Actuation force on the fingertip of the Adaptive Gripper 2-Finger (see charts below for 2-Finger 85 and 2-Finger 140 force).
  • Page 107 Robotiq 2-Finger Adaptive Gripper Instruction Manual Figure 6.2.2 : Grip force in the Y and Z axis for the 2-Finger 85 and 2-Finger 140. Robotiq inc. © 2016...
  • Page 108 Robotiq 2-Finger Adaptive Gripper Instruction Manual Info The "Actuation Force" is the force that can be applied to an object by the motor of the Gripper. The Gripper is self-locking. Note The user of the Gripper must always ensure that the result of the forces against the finger is always lower than the maximum holding Force as seen in figure 6.2.2.
  • Page 109 Z axis in figure 6.2.2. Figure 6.2.3 : Position of the Gripper equilibrium line according to the opening angle for 2-Finger 85 and 2-Finger 140 options.

  • Page 110: Center Of Mass And Moment Of Inertia

    . The center of mass and moment of inertia are calculated for a configuration where the fingers are fully open. Here is the approximate position for the center of mass: Figure 6.2.1.1 : Robotiq 2-Finger center of mass. Robotiq inc. © 2016...
  • Page 111 Robotiq 2-Finger Adaptive Gripper Instruction Manual Here is the approximate moment of inertia matrix for the Gripper: Figure 6.2.1.2 : Robotiq 2-Finger intertia matrix. Robotiq inc. © 2016...

  • Page 112: Moments And Force Limit

    Example usage of the listed limit : After picking it's normal payload, the robot can use the 2-Finger 85 Gripper to apply up to 50 N of force in any direction. Applying more then 50 N could damage the Gripper or result in payload loss.

  • Page 113: Electrical Specifications

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 6.3 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 Robotiq inc. © 2016...

  • Page 114: Maintenance

    Periodic Inspection Finger Pad 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 115: Gripper Cleaning

    None 4 mm hex key Dry tissue or towel Medium strength thread locker Reminder The Robotiq 2-Finger Adaptive Robot Gripper 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 116: Periodic Inspection

    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. Put back in place respecting instructions from section 7.1.

  • Page 117: Fingertip Replacement

    Dry tissue or towel low strength thread locker medium strength thread locker See Spare parts and accessories section to order Robotiq 2-Finger Adaptive Robot Gripper replacement parts. Note Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper.

  • Page 118: Overhaul

    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. Gripper overhaul includes, but is not limited to :...

  • Page 119: Spare Parts, Kits And Accessories

    (6) M8 screws and 80-6M8-2D8 (2) M8 indexing pins 2-Finger Device Cable 5 m Robotiq device cable for power and communication. Straight M12 5-pins female on one side, CBL-COM-2065-05 (5M) single ended on the other, shielded Robotiq inc. © 2016...
  • Page 120 Robotiq 2-Finger Adaptive Gripper Instruction Manual 2-Finger Device Cable 10 m Robotiq device cable for power and communication. Straight M12 5-pins female on one side, CBL-COM-2065-10 (10M) single ended on the other, shielded USB to RS485 adapter USB to RS485 adapter, can be used with device cable for USB connection...

  • Page 121: Troubleshooting

    Driver is installed but Gripper cannot be controlled : If Gripper LED is not blue, follow the steps in the first section above If Gripper LED is blue, driver is installed with the latest available version, contact support@robotiq.com Robotiq inc. © 2016...

  • Page 122: Warranty & Patent

    10. Warranty & patent Robotiq warrants the 2-Finger 85 and 2-Finger 140 Adaptive Robot Grippers against defects in material and workmanship for a period of one year from the date of shipping from Robotiq when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use.
  • Page 123 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 124: Contact

    Robotiq 2-Finger Adaptive Gripper Instruction Manual 11. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and Canada 1-418-800-0046 Technical support and Engineering extension 207 Sales extension 122 Head office Robotiq: 966, chemin Olivier Suite 325 St-Nicolas, Québec...

  • Page 125: Harmonized Standards, Declarations And Certificates

    Robotiq 2-Finger Adaptive Gripper Instruction Manual A. Harmonized standards, declarations and certificates A1. Translation of original EC declaration of incorporation Robotiq inc. © 2016...
  • Page 126 Robotiq 2-Finger Adaptive Gripper Instruction Manual Robotiq inc. © 2016...

  • Page 127: A2. Applied Standards

    A2. 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.

This manual is also suitable for:

2-finger 140

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