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ROBOTIQ 2F-85 Original Notice

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Original Notice
© 2019 Robotiq Inc.
Robotiq 2F-85 & 2F-1 40
for TM Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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Summary of Contents for ROBOTIQ 2F-85

  • Page 1 Original Notice © 2019 Robotiq Inc. Robotiq 2F-85 & 2F-1 40 for TM Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 2: Table Of Contents

    3.4.3. Installing a Protector Kit on the Gripper Fingers 3.4.4. Installing the Gripper onto the robot Single Gripper Multiple Grippers 3.5. Electrical Setup 3.5.1. Pinout Interface 3.5.2. Coupling to controller Single Gripper Multiple Grippers 4. Control 4.1. Overview 4.2. Gripper Register Mapping 2F-85 & 2F-140 - Instruction Manual...
  • Page 3 4.7.3. Read input registers (FC04) 4.7.4. Preset multiple registers (FC16) 4.7.5. Master read & write multiple registers FC23 4.7.6. Modbus RTU example 4.8. Control over TM 4.8.1. TM Robots Compatibility with Robotiq Grippers 4.8.2. Getting Started 4.8.3. TM Gripper Components Installation Gripper Button...
  • Page 4 7.3. Fingertip replacement 7.4. Overhaul 8. Spare Parts, Kits and Accessories 9. Troubleshooting 10. Warranty and Patent 11. Contact 12. Harmonized Standards, Declarations and Certificates 12.1. Translation of original EC declaration of incorporation 12.2. Applied standards 2F-85 & 2F-140 - Instruction Manual...

  • Page 5: 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.
  • Page 6 This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq.

  • Page 7: 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.

  • Page 8: Gripper Nomenclature

    Fig. 1-1: Robotiq 2-Finger Adaptive Gripper. Please refer to the Spare Parts, Kits and Accessories section for details on standard and optional parts. 2F-85 & 2F-140 - Instruction Manual...
  • Page 9 1 .2. 2F-85 vs. 2F-1 40 The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140) according to the figure below. The chassis will remain the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions.

  • Page 10: Object Picking

    Also, to ensure stability, the object should be held against the Gripper palm while performing an encompassing grip. Refer to the figure below for a visual representation of the parallel and encompassing grasp regions on the distal phalanx of the 2-Finger Gripper. 2F-85 & 2F-140 - Instruction Manual...
  • Page 11 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. Fig. 1-4: Finger internal and external grasping. 2F-85 & 2F-140 - Instruction Manual...
  • Page 12 Grasping an object that could be grasped by an encompassing grasp (a cylinder for example) on the equilibrium line is not recommended, as slight variations on the position will switch the grasp from parallel to encompassing and vice versa. Robot programming should be done so that the grasping mode will be predetermined. 2F-85 & 2F-140 - Instruction Manual...

  • Page 13: Setup And Control

    Info Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial). Gripper Coupling is required for 2-Finger usage, the Coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installation section for installation of the Coupling, to the Specifications section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings.

  • Page 14: 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...

  • Page 15: Warning

    2.1 .1 . Risk assessment and final application: The Robotiq 2-Finger Adaptive 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.

  • Page 16: 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 17: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper. The Scope of Delivery section The Required Tools and Equipment section The Environmental and Operating Conditions section The Mechanical Installation section...

  • Page 18: Scope Of Delivery

    The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. Required power supply must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the Gripper and the optional Robotiq Controller.

  • Page 19: Environmental And Operating Conditions

    Warning If your power supply could exceed the specified regulation, over-voltage protection is required. Robotiq recommends the use of the following power supplies: Optional Robotiq Universal Controller can use the same power supply. 3.3. Environmental and Operating Conditions CONDITION VALUE Minimum storage/transit -30°C [-22°F]...

  • Page 20: Mechanical Installation

    2. Insert the finger shaft in the finger bar bracket hole and through the chassis axis (top hole is for parallel locking while bottom hole is for finger installation).. 3. Apply medium strength threadlocker on the provided screws, align the finger bar and fasten to the chassis/chassis axis. Fig. 3-1: 2-Finger Adaptive Gripper installation. 2F-85 & 2F-140 - Instruction Manual...

  • Page 21: Installing The Fingertips On The Gripper

    1. Align the fingertip indexing pins with the finger dowel holes. 2. Insert the M5 X 10 low head cap screws and screw on after applying low strength threadlocker. Fig. 3-2: Installing the fingertips on the Gripper 2F-85 & 2F-140 - Instruction Manual...

  • Page 22: Installing A Protector Kit On The Gripper Fingers

    3.4.3. Installing a Protector Kit on the Gripper Fingers An optional protector kit (AGC-PRO-KIT-V4) can be ordred to cover the fingers of the 2F-85 and therefore protect users and assets against pinch points. You can install them using eight (8) M3 screws.

  • Page 23: Multiple Grippers

    1. Install a mounting plate (not provided) first on the robot arm (AGC-APL-159-02). 2. Mount the gripper couplings on the mounting plate using the provided M6 X 10 mm screws. 3. Mount the grippers onto their coupling using the provided M5 X 35 mm screws. 2F-85 & 2F-140 - Instruction Manual...

  • Page 24: 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 RS485 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 25 Fig. 3-6: Robotiq 2-Finger electrical isolation / grounding. 2F-85 & 2F-140 - Instruction Manual...

  • Page 26: Pinout Interface

    3.5.2. Coupling to controller If a Robotiq Universal Controller is used, please refer to the Robotiq Universal Controller manual. The figure below represents the wiring schematic of the 2-Finger with device cable, power supply, fuse (please refer to the Required Tools and Equipment section) and grounding.
  • Page 27 Fig. 3-8: Robotiq 2-Finger with pigtail cable and device cable wiring schematic. 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 28: Single Gripper

    A and B signals must be balanced at 120 Ohms Single Gripper Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485) as shown in the figure below. Fig. 3-10: Gripper Cable to RS485/RS232 Converter Also connect the red (24V) and black (0V) wires in the controller according to the figure below.
  • Page 29 Fig. 3-12: Multiple grippers wiring 2F-85 & 2F-140 - Instruction Manual...

  • Page 30: Control

    Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object detection and force control. Since the Robotiq 2-Finger has its own embedded controller, high-level commands, such as " Go to requested position" are used to control it.
  • Page 31 Fig. 4-1: 2-Finger control logic overview 2F-85 & 2F-140 - Instruction Manual...

  • Page 32: Gripper Register Mapping

    RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT Byte 6 to 15 RESERVED RESERVED Table 4-1: Registers of the 2-Finger Gripper. 2F-85 & 2F-140 - Instruction Manual...

  • Page 33: Robot Output Registers& Functionalities

    The automatic release is meant to disengage the Gripper after an emergency stop of the robot. The automatic release is not intended to be used under normal operating conditions. Automatic release will require rACT to be cleared (rACT == 0) then set (rACT == 1). 2F-85 & 2F-140 - Instruction Manual...
  • Page 34 Info The activation feature of the Robotiq Adaptive Gripper will allow the Gripper to adjust to any fingertips. No matter what is 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 35 If the current limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Robot Input Registers & Status section for details on force control. 0x00 - Minimum force 0xFF - Maximum force Info Register bytes 6 to 15 are reserved and should be set to zero. 2F-85 & 2F-140 - Instruction Manual...

  • Page 36: Robot Input Registers& Status

    Checking for the correct position of the fingers (byte 4), as well as object detection (byte 0, bit 6 & 7) before proceeding to the next step of a routine is a more reliable method than object detection or finger position alone. 2F-85 & 2F-140 - Instruction Manual...
  • Page 37 0x0D - Activation fault, verify that no interference or other error occurred. 0x0E - Overcurrent triggered. 0x0F - Automatic release completed. Info While booting, status LED will be solid blue / red. kFLT : See your optional Controller Manual (input registers & status). 2F-85 & 2F-140 - Instruction Manual...
  • Page 38 The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA. Built-in features like object detection and force control use the finger's electrical current readings. The user does not need to create these features. 2F-85 & 2F-140 - Instruction Manual...

  • Page 39: Picking Features

    The table below shows the expected applied force according to the payload material hardness, speed setting rSP and force setting rFR. All tests were done with the 2-Finger Gripper with firmware GC3-1.3.9. Data was obtained with a Load Cell from Phidget, SType, model 3138. 2F-85 & 2F-140 - Instruction Manual...
  • Page 40 Aluminium 6061 Available with V-Groove fingertip AGC-TIP-205-0085 / AGC-TIP-421-140. Available with flat silicone fingertip AGC-TIP-204-085 / AGC-TIP-420-140. HV refers to Vickers hardness test. 4 Durometer refers to Shore durometer hardness, scale A or scale OO. 2F-85 & 2F-140 - Instruction Manual...
  • Page 41 Fig. 4-2: grasp force on hardness 220 HV (4340 annealed carbon steel). Fig. 4-3: grasp force on hardness 95 HV (6061-T6 aluminium). 2F-85 & 2F-140 - Instruction Manual...
  • Page 42 Fig. 4-4: grasp force on hardness 60A (silicone). Fig. 4-5: grasp force on hardness 40 A (silicone). 2F-85 & 2F-140 - Instruction Manual...
  • Page 43 Fig. 4-6: grasp force on hardness 10 A (neoprene). Fig. 4-7: grasp force on hardness 30 OO (polyurethane). 2F-85 & 2F-140 - Instruction Manual...

  • Page 44: Re-Grasp

    While your initial settings for force and speed are not used for Re-grasp, they will never be exceeded to prevent damaging the object grasped. Info The rOBJ status is cleared when a motion is detected. 2F-85 & 2F-140 - Instruction Manual...

  • Page 45: Object Detection

    5. The user can now assume it is holding the payload, and proceed to the next step. Object lost example: 1. From previous example, after an object is picked, gOBJ = 0x02 2. If gOBJ = 0x03 after it was 0x02, user can assume the object as been lost. 2F-85 & 2F-140 - Instruction Manual...

  • Page 46: Control Logic

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

  • Page 47: Modbusrtu 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.

  • Page 48: Connection Setup

    Modbus register(0x07D0) is composed from the first 2 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.

  • Page 49: Read Holding Registers (Fc03)

    Function Code 03 (Read Holding Registers) Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4433 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...

  • Page 50: Read Input Registers (Fc04)

    Function Code 04 (Read Holding Registers) Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4584 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...

  • Page 51: Preset Multiple Registers (Fc16)

    Response is: 09 10 03 E9 00 02 91 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E9 Address of the first register 0002 Number of written registers 9130 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...

  • Page 52: Master Read & Write Multiple Registers Fc23

    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 2F-85 & 2F-140 - Instruction Manual...
  • Page 53 Bits Description 09E6 Content of register 07D1 F6C1 Cyclic Redundancy Check (CRC) Note that the content of the response might change depending on the Gripper's status. 2F-85 & 2F-140 - Instruction Manual...

  • Page 54: Modbus Rtu Example

    Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 55 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 56 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) Content of register 07D0 (GRIPPER STATUS= 0x31, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gSTA = 3 for 3100 "Activation is completed" 4C15 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 57 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 58 GRIPPER STATUSis valid. Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 0E0A 100mA (these values will change during motion) F78B Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 59 GRIPPER STATUSis valid. Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to validate BD00 the size of the seized object) 1D7C Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 60 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 61 GRIPPER STATUSis valid. Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is BB10 160mA (these values will change during motion) 30E0 Cyclic Redundancy Check (CRC) 2F-85 & 2F-140 - Instruction Manual...
  • Page 62 Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached 0D00 their software limit) 564C Cyclic Redundancy Check (CRC) Step 9: Loop back to step 3 if other objects have to be grasped. 2F-85 & 2F-140 - Instruction Manual...

  • Page 63: Control Over Tm

    4.8. Control over TM 4.8.1 . TM Robots Compatibility with Robotiq Grippers Hardware Version TM Flow Version TM Gripper Component Robotiq RS232 Converter HW1, HW2, HW3 1.68 and later 2F85_V004_XXX Compatible 4.8.2. Getting Started Power ON the robot Tap the triple bar icon in the upper left corner of the screen...
  • Page 64 Click on the Login icon in the navigation pane on the left Enter your credentials and click on OK. 2F-85 & 2F-140 - Instruction Manual...
  • Page 65 Click on Get Control Click on the triple bar icon in the upper left corner of the screen and select Project 2F-85 & 2F-140 - Instruction Manual...
  • Page 66 Click on the New Project icon in the upper left corner of the screen Enter a name for your program and click on the OK button. 2F-85 & 2F-140 - Instruction Manual...

  • Page 67: Tm Gripper Components

    4.8.3. TM Gripper Components Here is the list of the current Robotiq Gripper TM Components to install on TM Robots: GRIPPER_ROBOTIQ_2FIN85_V004_SET.Component = SET the Gripper (Speed, Force, Position) GRIPPER_ROBOTIQ_2FIN85_V004_GRIP.Component = CLOSE the Gripper (Action) GRIPPER_ROBOTIQ_2FIN85_V004_RELEASE.Component = OPEN the Gripper (Action) GRIPPER_ROBOTIQ_2FIN85_V004_CHANGEGRIPPER.Component = CHANGE the address of the Gripper/dual Gripper...
  • Page 68 Select Import/Export Click the Import button 2F-85 & 2F-140 - Instruction Manual...
  • Page 69 Click on TMComponent in the Robot List window and click on OK Click on the Component button of the Import navigation pane 2F-85 & 2F-140 - Instruction Manual...
  • Page 70 Select the Components you want to import and click on the Import button 2F-85 & 2F-140 - Instruction Manual...
  • Page 71 Tap the triple bar icon and select Setting to display the Robot Setting window Click on the Component icon 2F-85 & 2F-140 - Instruction Manual...
  • Page 72 Enable required Components in the Components list by ticking the radio button beside each of them A Component that is enabled displays a green radio button; once the Components are enabled, click on the Save button 2F-85 & 2F-140 - Instruction Manual...
  • Page 73 Create a new project or open an existing project, and locate the Gripper components in the navigation pane 2F-85 & 2F-140 - Instruction Manual...

  • Page 74: Gripper Button

    Gripper Button The user can assign Gripper Components to the Gripper button and use the latter to open and close the fingers of the Robotiq Gripper. From the TM Flow homepage, tap the triple bar icon and select the Setting icon Click on Gripper Button 2F-85 &...
  • Page 75 In the Gripper Button window, tick the Using Customized Component radio button and select the Component you want to assign to either one of the Gripper actions In the popup window, select or change the Component you wish to assign to the Gripper action/button, and click OK 2F-85 & 2F-140 - Instruction Manual...

  • Page 76: Programming

    Drag and drop the SET Component icon after a program Gateway to place a SET program node (2FIN85_V004_SET1) Tap the SET node to highlight it and click on the pencil to edit the settings Fig. 4-9: SET Node Settings Menu 2F-85 & 2F-140 - Instruction Manual...
  • Page 77 Set gripping speed Release_Setting var_Release_speed 2F-85 0~100%=20~150mm/s 2F-140 0~100%=30~250mm/s Set gripping position var_Release_pos 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s Please set as Com1, Com2, Com3, following the com port to ComPort_Setting var_ComPort which you connect the gripper. 2F-85 & 2F-140 - Instruction Manual...

  • Page 78: Grip Component

    Drag and drop theGRIP Component icon after a program Gateway to place a GRIP program node (2FIN85_V004_GRIP1) Tap the GRIP node to highlight it and click on the pencil to edit the settings Fig. 4-10: GRIP Node Settings Menu 2F-85 & 2F-140 - Instruction Manual...

  • Page 79: Release Component

    Component Node Drag and drop theRELEASE Component icon after a program Gateway to place a RELEASE program node (2FIN85_V004_RELEASE1) Tap the RELEASE node to highlight it and click on the pencil to edit the settings 2F-85 & 2F-140 - Instruction Manual...
  • Page 80 Fig. 4-11: RELEASE Node Settings Menu Setting Variable Type Default Description Set gripping force var_grip_force 2F-85 0~100%=20~235N 2F-140 0~100%=10~125N Set gripping speed Release_Setting var_grip_speed 2F-85 0~100%=20~150mm/s (SET Node) 2F-140 0~100%=30~250mm/s Set gripping position var_grip_pos 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s 2F-85 & 2F-140 - Instruction Manual...

  • Page 81: Changegripper Component

    Component Node Drag and drop theCHANGEGRIPPER Component icon after a program Gateway to place a CHANGEGRIPPER program node (2FIN85_V004_CHANGEGRI) Tap the CHANGEGRIPPER node to highlight it and click on the pencil to edit the settings 2F-85 & 2F-140 - Instruction Manual...
  • Page 82 Var_Slave_ID Select the Slave ID as the current gripper Info Use the Robotiq User Interface to change the Modbus Slave ID Address of the second gripper when using a dual gripper (Default = 9). 2F-85 & 2F-140 - Instruction Manual...

  • Page 83: Changing The Modbus Slave Id

    Changing the Modbus Slave ID The user can change the Modbus Slave ID of a Robotiq Gripper via the Robotiq User Interface. Installer Browse to the support page of the Gripper in the Software section to download the RUI installer (.exe).
  • Page 84 Change the Slave ID of the Gripper by typing in the corresponding box Click on the Apply button Perform a power cycle (24 V) while the USB device remains connected. 2F-85 & 2F-140 - Instruction Manual...

  • Page 85: User Interface

    5. User Interface Visit support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. See the instruction manual of the Robotiq User Interface for more details. 2F-85 & 2F-140 - Instruction Manual...

  • Page 86: Specifications

    The following manual uses the metric system, unless 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. Section 6.1 lists the technical dimensions of the Grippers...

  • Page 87: Technical Dimensions

    Fig. 6-1: 2F-85 general dimensions (opened). As mentioned in the figure above, height and width of the fingers vary with opening position. Figure 6-1 represents the 2F-85 Gripper in the opened position (position request = 0), while Figure 6-2 represents the 2F-85 Gripper in the closed position (position request = 255).
  • Page 88 Fig. 6-2: 2F-85 dimensions (closed). 2F-85 & 2F-140 - Instruction Manual...
  • Page 89 Fig. 6-3: 2F-140 general dimensions (opened). 2F-85 & 2F-140 - Instruction Manual...
  • Page 90 As mentioned in the figure above, the height and width of the fingers vary with opening position. Figure 6-3 represents the 2F-140 Gripper in the opened position (position request = 0), while Figure 6-4 represents the 2F-140 Gripper in the closed position (position request = 255). 2F-85 & 2F-140 - Instruction Manual...

  • Page 91: Couplings

    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 2F-85 and the 2F-140.

  • Page 92: Coupling For Iso 9409-1-50-4-M6

    Bolt pattern for coupling AGC-CPL-062-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 50 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance (1) M6 indexing pin ISO 9409-1 standard 50-4-M6 Fig. 6-6: Coupling for ISO 9409-1-50-4-M6. 2F-85 & 2F-140 - Instruction Manual...

  • Page 93: Coupling For Iso 9409-1-31.5-4-M5

    Bolt pattern for coupling AGC-CPL-063-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 31.5 mm pitch circle diameter : (4) M5-0.8 low head socket cap screw clearance (1) M5 indexing pin ISO 9409-1 standard 31.5-4-M5 Fig. 6-7: Coupling for ISO 9409-1-31.5-4-M5. 2F-85 & 2F-140 - Instruction Manual...

  • Page 94: Coupling For Iso 9409-1-40-4-M6

    Bolt pattern for coupling AGC-CPL-064-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 40 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance (1) M6 indexing pin ISO 9409-1 standard 40-4-M6 Fig. 6-8: Coupling for ISO 9409-1-40-4-M6. 2F-85 & 2F-140 - Instruction Manual...

  • Page 95: Coupling For Pcd 56 With 8 X M4

    Fig. 6-9: Coupling for PCD 56 mm with 8 x M4 clearance. Info Although coupling AGC-CPL-065-002 is compatible with 8 x M4 threads on a 56 mm PCD it uses only 6 of the 8 normally present holes. 2F-85 & 2F-140 - Instruction Manual...

  • Page 96: Coupling For Pcd 56 With 6 X M4

    56 mm pitch circle diameter: (6) M4-0.7 low head socket cap screw clearance (1) M6 indexing pin 42 mm diameter external insert Fig. 6-10: Coupling for PCD 56 mm with 6 x M4 clearance. 2F-85 & 2F-140 - Instruction Manual...

  • Page 97: Coupling For Pcd 60 With 4 X M5

    60 mm pitch circle diameter : (4) M5-0.8 low head socket cap screw clearance (1) M5 indexing pin 34 mm diameter external insert Fig. 6-11: Coupling for PCD 60 mm with 4 x M5 clearance. 2F-85 & 2F-140 - Instruction Manual...

  • Page 98: Coupling For Pcd 63 With 6 X M6

    Bolt pattern for coupling AGC-CPL-068-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 63 mm pitch circle diameter : (6) M6-1.0 low head socket cap screw clearance (2) M6 indexing pins Fig. 6-12: Coupling for PCD 63 mm with 6 x M6 clearance. 2F-85 & 2F-140 - Instruction Manual...

  • Page 99: Fingertips

    6.1 .2. Fingertips The contact grasp points for the Robotiq 2-Finger Adaptive Robot Gripper are its two fingertip pads and palm pad. Many fingertips are available from Robotiq (refer to the Spare Parts, Kits and Accessories section). The user can customize their own fingertips from blanks or create them from scratch.

  • Page 100: Flat Silicone Fingertip

    Flat silicone fingertip The figure below represents a flat silicone fingertip AGC-TIP-204-085 (2F-85) and AGC-TIP-420-140 (2F-140); please refer to the Spare Parts, Kits and Accessories section. This fingertip has a flat silicone surface with an optimal friction coefficient for picking objects while the other surface will mount onto the fingertip holder shown in the Fingertips section.

  • Page 101: Grooved Fingertip

    Spare Parts, Kits and Accessories section. This fingertip has a grooved surface with an optimal shape for picking cylindrical objects (with its horizontal and vertical grooves) while the other surface will mount onto the fingertip holder shown in the Fingertips section. Fig. 6-16: Grooved fingertip AGC-TIP-205-085 Fig. 6-17: Grooved fingertip AGC-TIP-421-140 2F-85 & 2F-140 - Instruction Manual...

  • Page 102: Mechanical Specifications

    Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an object with a parallel grasp using standard silicone fingertips. For more details see the blog.robotiq.com article on repeatability. Position repeatability varies depending on the product wear and operating conditions. The presented values are typical for the newly- manufactured products.

  • Page 103: Payload And Force

    Fig. 6-18: Actuation force on the fingertip of the Adaptive Gripper 2-Finger (see charts below for 2-Finger 85 and 2-Finger 140 force). Fig. 6-19: Grasp force in the Y and Z axis for the 2-Finger 85 and 2-Finger 140. 2F-85 & 2F-140 - Instruction Manual...
  • Page 104 The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient. Warning You must consider the robot acceleration in your payload calculations. Robot emergency stops will lead to major deceleration velocities. 2F-85 & 2F-140 - Instruction Manual...

  • Page 105: Friction Grasp And Form-Fit Grasp

    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 106: Equilibrium Line

    Z axis in figure 1-5. Fig. 6-20: Position of the Gripper equilibrium line according to the opening angle for 2-Finger 85 and 2-Finger 140 options. 2F-85 & 2F-140 - Instruction Manual...

  • Page 107: Center Of Mass, Tool Center Point And Moment Of Inertia

    6.2.3. Center of mass, tool center point and moment of inertia Coupling is included when Gripper is not mounted on the Camera. Dual Gripper adapter plate included where appropriate. 2F-85 & 2F-140 - Instruction Manual...
  • Page 108 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. 6-21: Robotiq 2-Finger inertia matrix. 2F-85 & 2F-140 - Instruction Manual...

  • Page 109: Moment And Force Limits

    50 N could damage the Gripper or result in payload loss. The Gripper can pick a screwdriver and apply 3 Nm of torque to screw ( such moment would be in the Z axis). 2F-85 & 2F-140 - Instruction Manual...

  • Page 110: Electrical Specifications

    6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Absolute maximum supply voltage 28 V DC Quiescent power (minimum power < 1 W consumption) Peak current 2F-85 & 2F-140 - Instruction Manual...

  • Page 111: Maintenance

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

  • Page 112: Gripper Cleaning

    Table 7-1: Maintenance intervals for the 2-Finger Grippers 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. Caution Maintenance operations are for the average normal usage of the Gripper, the maintenance intervals must be adjusted...
  • Page 113 6. Put the coupling back on and fix it with the four (4) M5-0.8 x 25mm socket head cap screws, use the tooth lock washers, apply medium strength thread locker to the M5 screws. Fig. 7-1: Flat head screwdriver slot for manual opening and closing of the Gripper. 2F-85 & 2F-140 - Instruction Manual...

  • Page 114: Periodic Inspection

    Finger pad wear must not affect grasping, if wear is visible and affects movement, change fingerpad(s). c. Check for any collision damage, if damage is visible, contact support@robotiq.com. d. Check for any sign of wear on the Gripper chassis, if wear is present and may affect the Gripper, contact sup- port@robotiq.com.

  • Page 115: Fingertip Replacement

    Refer to the Spare Parts, Kits and Accessories section section to order Robotiq 2-Finger Adaptive Robot Gripper replacement parts. Info Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper.

  • Page 116: 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 117: Spare Parts, Kitsand Accessories

    Gripper 2-Finger, with screws for Gripper fixation and AGC-CPL-063-002 M5 coupling 1 m pigtail cable ISO 9409-1-40-4-M6 coupling for Adaptive Robot ISO 9409-1-40-4- Gripper 2-Finger, with screws for Gripper fixation and AGC-CPL-064-002 M6 coupling 1 m pigtail cable 2F-85 & 2F-140 - Instruction Manual...
  • Page 118 Interface to 80 mm PCD with (6) M8 screws and (2) AGC-APL-153-002 80-6M8-2D82D8 M8 indexing pins 5 m Robotiq device cable for power and 2-Finger Device communication. Straight M12 5-pins female on one CBL-COM-2065-05 Cable (5M) side, single ended on the other, shielded...
  • Page 119 Two (2) M3 screws Pitch Circle Diameter Part listed for two units, since two are required per Gripper. For legacy part replacement visit the documentation archives and the appropriate manual or consult your Robotiq distributor. 2F-85 & 2F-140 - Instruction Manual...

  • Page 120: Troubleshooting

    9. Troubleshooting Section contents coming soon. 2F-85 & 2F-140 - Instruction Manual...

  • Page 121: Warranty And Patent

    1 0. 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 122 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 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

    Technical support and engineering option 3 Sales option 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...

  • Page 125: Harmonized Standards, Declarations And Certificates

    1 2. Harmonized Standards, Declarationsand Certificates 1 2.1 . Translation of original EC declaration of incorporation 2F-85 & 2F-140 - Instruction Manual...

  • Page 126: Applied Standards

    1 2.2. 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.

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