ROBOTIQ HAND-E Original Notice
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ROBOTIQ HAND-E Original Notice

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© 2019 Robotiq Inc.
Robotiq Hand-E
for Hanwha Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ HAND-E

  • Page 1 Original Notice © 2019 Robotiq Inc. Robotiq Hand-E for Hanwha Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    Single Gripper 3.5. Electrical Setup 3.5.1. Pinout Interface 3.5.2. Coupling to controller Single Gripper 3.6. Testing the Gripper with the Robotiq User Interface (RUI) 3.7. Installation for Hanwha Robots 3.7.1. Installing the plugin 3.7.2. Uninstalling the plugin 4. Control 4.1. Overview 4.2.
  • Page 3 Maximum payload/External force vs. Custom finger design Friction grasp and form-fit grasp Maximum payload by grasp type 6.2.2. Center of mass and tool center point 6.2.3. Moment and force limits 6.3. Electrical specifications 7. Maintenance Robotiq Hand-E Gripper - Instruction Manual...
  • Page 4 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 12.3. Ingress Protection Certificate Robotiq Hand-E Gripper - 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

    The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in the following manual all refer to the Robotiq Hand- E Gripper. The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly pick, place and handle a large range of parts of varying sizes and shapes.

  • Page 8: Gripper Nomenclature

    1.1. Gripper nomenclature The Hand-E Gripper is a parallel gripper. Its two fingers are actuated by a single motor. Fig. 1-1: Robotiq Hand-E Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts.
  • Page 9 The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks. Refer to the Installing the Gripper onto the robot section for more information on how to integrate custom fingers and fingertips to Hand-E.

  • Page 10: Object Picking

    1.2. Object picking The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping. The fingers can pick hollow parts from the inside by applying pressure with the outer surface of the fingers.

  • Page 11: Setup And Control

    A gripper coupling is required for using Hand-E; the coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installation section for installation of the coupling, to the Technical dimensions section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings.

  • Page 12: Safety

    2. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq Hand-E Gripper. Info The term "operator" refers to anyone responsible for any of the following operations on the RobotiqHand-E Gripper:...

  • Page 13: Intended Use

    Risk assessment and final application: The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the final application must be evaluated via a thorough risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are met.

  • Page 14: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Hand-E Gripper. Warning Before installing: Read and understand the safety instructions related to the Hand-E Gripper. Verify your package according to the scope of delivery and your order.

  • Page 15: Scope Of Delivery

    Power supply units, power supply wiring or fuses. Info When bought as a kit, the Hand-E Gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling. Please refer to the Spare Parts, Kits and Accessories section. Robotiq Hand-E Gripper - Instruction Manual...

  • 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

    Minimum operating -10°C [14°F] temperature Maximum operating 50°C [122°F] temperature Humidity (non-condensing) 20-80% RH Maximum vibration (storage/transit) Maximum vibration (operating) IP Rating IP 67 Table 3-2: Environmental and operating conditions of the Hand-E Gripper. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 18: Mechanical Installation

    3.4. Mechanical Installation 3.4.1. Installing the fingers/fingertips/holders on the Gripper The figures below list the material and tools needed to mount fingers or fingertips/holders onto the racks of the Hand-E Gripper. Fig. 3-1: Mounting the fingers on the racks Robotiq Hand-E Gripper - Instruction Manual...
  • Page 19 Fig. 3-2: Mounting fingertips on holders (and then on the racks) Robotiq Hand-E Gripper - Instruction Manual...

  • Page 20: Installing The Gripper Onto The Robot

    Here are the steps to follow to mount the Gripper to your robot (see figure below). Note that all screws must be locked in place using medium strength threadlocker. 1. Screw the coupling to the robot. 2. Screw the Gripper onto its coupling. Fig. 3-3: Installing the Gripper onto the robot wrist Robotiq Hand-E Gripper - Instruction Manual...

  • Page 21: Electrical Setup

    3.5. Electrical Setup Power and communication are established with the Hand-E 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. Info RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V.
  • Page 22 Always protect the controller side (robot side) connector of the cable with a strain relief cable clamp. The figure below illustrates the Hand-E Gripper pigtail connector from the coupling (GRP-CPL-062 or AGC-CPL-XXX-002), the device cable on the robot side (CBL-COM-2065-10-HF) and their associated pinout.
  • Page 23 Table 3-3: Pinout of the Hand-E Gripper pigtail and device cable. If additional cables are used, suggested cable specifications are as follows: Power supply, fusing minimum #22 AWG TEW, 300 V or 600 V RS485 signal minimum #24 AWG TEW, 300 V or 600 V...

  • Page 24: Single Gripper

    Follow the instructions to install the Robotiq User Interface, or RUI (refer to the instruction manual of the RUI) Use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (refer to the figure below) to plug into a PC with the Robotiq User Interface installed. Power up your Gripper with the previously recommended power supply.
  • Page 25 Fig. 3-6: RS-485 to USB converter ACC-ADT-USB-RS485 pinout. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 26 With the RUI 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. You can also test gripping your parts with various speed and force settings. Please refer to the Control section for details. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 27: Installation For Hanwha Robots

    Tap the Add button to launch the file explorer. Then, the external and internal storage paths are displayed Fig. 3-8: Plugin management menu with Add button highlighted. Select the plugin you want to install and click the OK button Fig. 3-9: Selection of the plugin with the OK button highlighted. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 28: Uninstalling The Plugin

    In the Plugin Management menu, select the plugin you want to delete and press the Delete button. Fig. 3-11: Plugin Management menu with check box and Delete button highlighted. For normal plugin deletion, restart your system. Use the same procedure indicated in the Plug-In Installation section. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 29: Control

    Unless specified, all values in this section are in hexadecimal values. 4.1. Overview The Robotiq Hand-E Gripper is controlled directly via Modbus RTU using a RS485 signal. It can also be controlled via an optional Robotiq Universal Controller using an industrial protocol (refer to the instruction manual of the Robotiq Universal controller).
  • Page 30 Fig. 4-1: Hand-E control logic overview Robotiq Hand-E Gripper - Instruction Manual...

  • Page 31: Gripper Register Mapping

    GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT Byte 6 to 15 RESERVED RESERVED Table 4-1: Registers of the Hand-E Gripper. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 32: 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 requires the rACT to be cleared (rACT == 0) then set (rACT == 1). Robotiq Hand-E Gripper - Instruction Manual...
  • Page 33 The activation will allow the Gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the fingers/fingertips, 0 will always be fully opened and 245 fully closed, with a quasi-linear relationship between the two values. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 34 Please refer to the Picking Features 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 0. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 35: Robot Input Registers & Status

    In such applications, the "Fingers are at requested position" status of register gOBJ is sufficient to proceed to the next step of the routine. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 36 0x0C - Internal fault, contact support@robotiq.com 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. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 37 The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA. Built-in features like object detection and force control use the fingers' electrical current readings. The user does not need to create these features. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 38: Picking Features

    = 0 : Very fragile objects or deformable objects mode Lowest force Re-grasp feature is off 1 rFR 255 : Solid & firm objects High torque mode Re-grasp feature is on Robotiq Hand-E Gripper - Instruction Manual...

  • Page 39: Re-Grasp

    While your initial settings for force and speed are not used for Re-grasp, they will never be eceeded to prevent damaging the part. Caution The rOBJ status is cleared when a motion is detected. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 40: Object Detection

    2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost. 4.5.4. Brake engagement The Hand-E Gripper is equipped with a brake that engages at the end of each and every Gripper move, and thus disengages between each of these moves.

  • Page 41: Control Logic Example

    4.6. Control Logic Example Fig. 4-2: Example of Gripper control logic with corresponding registers. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 42: 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.

  • Page 43: Connection Setup

    Modbus register(0x07D0) is composed from the first 2 Robotiq Gripper bytes (byte 0 and byte 1). Info 200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send commands with a minimum delay of 5 ms between them.

  • Page 44: 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) Robotiq Hand-E Gripper - Instruction Manual...

  • Page 45: 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) Robotiq Hand-E Gripper - Instruction Manual...

  • Page 46: Preset Multiple Registers (Fc16)

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

  • Page 47: 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 Robotiq Hand-E Gripper - Instruction Manual...
  • Page 48 Note that the content of the response might change depending on the Gripper's status. Info The Gripper will execute the input command (i.e.: write), execute one cycle of motion, update the output, then return the Modbus response read. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 49: 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) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 50 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 51 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) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 52 Response is: 09 10 03 E8 00 03 01 30 Bits Description SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 53 GRIPPER STATUS is valid. Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 0E0A 100mA (these values will change during motion) F78B Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 54 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) Step 6: Move the robot to the release location Robotiq Hand-E Gripper - 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) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 56 GRIPPER STATUS is 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) Robotiq Hand-E Gripper - Instruction Manual...
  • Page 57 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 gripped. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 58: Control Over Hanwha Using The Plugin

    Fig. 4-3: Menu to activate the gripper with the RodiX icon and Gripper menu highlighted. If no device is detected, tap the Scan button Fig. 4-4: .Menu to activate the gripper with Scan button highlighted. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 59 To test the gripper: In the dashboard, the Gripper can either be closed or opened, using the E-Open or E-Close button. Fig. 4-6: Dashboard menu to test the gripper with E-Open and E-Close buttons highlighted. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 60 Tap the Gripper icon to insert a gripper node. Fig. 4-7: Menu to insert a gripper node in the program Tap the Gripper icon in the program to display Gripper settings. Fig. 4-8: Menu to show the Gripper settings. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 61 To change the settings and jog the gripper, tap the Edit action button. Fig. 4-9: Dashboard menu with Edit action button highlighted. Once done, tap the Save action button. Fig. 4-10: Edit Action menu. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 62: User Interface

    5. User Interface Visit the product page of Hand-E support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. Please refer to the instruction manual of the Robotiq User Interface for more details. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 63: Specifications

    6. Specifications Info 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 Hand-E. Section 6.1: technical dimensions of Hand-E: Dimensions for custom fingertips Dimensions of available fingertips Section 6.2: mechanical specifications...

  • Page 64: Technical Dimensions

    The figure below represents the Gripper's dimensions with axes X, Y, Z, and origin referenced for finger motion. Info All technical drawings in the present section are shown with the basic aluminum fingers. Fig. 6-1: General dimensions of Hand-E (open) Robotiq Hand-E Gripper - Instruction Manual...

  • Page 65: Couplings

    6.1.1. Couplings Hand-E requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Blank coupling Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (please refer to the Spare Parts, Kits and Accessories section), available to create a custom bolt pattern.
  • Page 66 Bolt pattern for coupling GRP-CPL-062 (please 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. 6-3: Coupling for ISO 9409-1-50-4-M6. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 67: Fingers And Fingertips

    The contact grip points for Hand-E are its two fingertip pads. Fingertip options are supplied by Robotiq (please refer to the Spare Parts, Kits and Accessories section). Users can create their own fingertips from scratch. The figure below represents the fingertip holder, the permanent, non customizable part of the Gripper finger on which the fingertip must be mounted.

  • Page 68: Basic Aluminum Finger

    In order to install fingertips on the racks, fingertip holders must be used (HND-TIP-HLD-KIT); please refer to the Spare Parts, Kits and Accessories section. You may customize fingertips to install directly on those. Both the flat silicone (HND-TIP-SLC-KIT) and V-groove fingertips , (HND-TIP-VGR-KIT) install on the fingertip holders. Fig. 6-6: Fingertip holder Robotiq Hand-E Gripper - Instruction Manual...

  • Page 69: Flat Silicone Fingertip

    The figure below represents a flat silicone fingertip (HND-TIP-SLC-KIT); please refer to the Spare Parts, Kits and Accessories section. This fingertip has a flat silicone surface with an optimal friction coefficient for picking parts. This fingertip must be mounted on a rack using the fingertip holder (HND-TIP-HLD-KIT). Fig. 6-7: Flat silicone fingertip Robotiq Hand-E Gripper - Instruction Manual...

  • Page 70: Grooved Fingertip

    (by its horizontal and vertical grooves). This fingertip must be mounted on the racks using the fingertip holder (HND-TIP-HLD-KIT). Fig. 6-8: Grooved fingertip Robotiq Hand-E Gripper - Instruction Manual...

  • Page 71: Mechanical Specifications

    2.3 lbs Grip force 20 - 130 N 4.5 - 27 lbf Finger speed 20 to 150 mm/s 0.8 to 5.9 in/s Info All specs are measured with coupling GRP-CPL-062 and basic aluminum fingertips (HND-FIN-ALU-KIT). Robotiq Hand-E Gripper - Instruction Manual...

  • Page 72: Payload And Force

    Cf is the friction coefficient between the fingertip and the part load. Sf is a safety factor to be determined by the robot integrator. Fig. 6-9: Actuation force on the fingertip of the Hand-E Gripper Info The Actuation Force is the force that can be applied to an object by the motor of the Gripper.

  • Page 73: Maximum Payload/External Force Vs. Custom Finger Design

    The maximum payload force recommended depends on the distance on the Z-axis at which the force/payload (F) is applied when using custom fingers on the Hand-E Gripper. Fig. 6-10: Z-axis offset at which force/payload is applied (tip of the finger, in the middle of the inner surface) Fig.

  • Page 74: Friction Grasp And Form-Fit Grasp

    In order to address other custom specific cases with regards to your own application, the main item to address is the strength of the screws used for mounting the fingers. Friction grasp and form-fit grasp Maximum payload by grasp type Grasp Type Maximum Payload Friction grasp 3 kg Form-fit grasp 5 kg Robotiq Hand-E Gripper - Instruction Manual...

  • Page 75: Center Of Mass And Tool Center Point

    6.2.2. Center of mass and tool center point Couplings are included when Grippers are not mounted on the Camera. Dual Gripper adapter plates are included where appropriate. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 76 Ry+/Ry- = 0.7854 Rz = 0 The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below. Fig. 6-12: Inertia matrix for Hand-E Robotiq Hand-E Gripper - Instruction Manual...

  • Page 77: Moment And Force Limits

    Fig. 6-13: Reference frame for maximum force and moment values applied to the fingers Usage examples with listed limits: After picking its normal payload, the robot can use Hand-E to apply up to 100 N of force in any direction. Applying more than 100 N can damage the Gripper or result in payload loss.

  • Page 78: Electrical Specifications

    6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) Peak current 1.1 A Robotiq Hand-E Gripper - Instruction Manual...

  • Page 79: Maintenance

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

  • Page 80: Gripper Cleaning

    5. Put the coupling back on and fix it with the four (4) M5-0.8 x 35mm socket head cap screws, use the tooth lock washers, apply medium strength thread locker to the M5 screws. Robotiq Hand-E Gripper - Instruction Manual...
  • Page 81 When cleaning the Gripper, verify that the fingers or fingertips are still intact. If there is wear visible, you can change the fingers or fingertips, using the ones provided by Robotiq or custom ones. See Spare parts and accessories section to order Hand-E replacement parts.

  • Page 82: Periodic Inspection

    Check for any sign of wear on the Gripper chassis; if wear is present and may affect the Gripper, contact support@robotiq.com 3. Put back in place according to the instructions from the Gripper cleaning section Robotiq Hand-E Gripper - Instruction Manual...

  • Page 83: Rack & Pinion Mechanism Cleaning

    Fix the 6 M5 screws to secure the rack housing. Put the gripper back on the coupling and fix it with the four (4) M5-0.8 x 25mm screws, use the tooth lock washers, apply medium strength thread locker to the M5 screws. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 84: Spare Parts, Kits And Accessories

    Unless specified, screws, dowel pins and other hardware are included only for the Gripper side, never for the robot side. Item Description Ordering Number Hand-E basic gripper unit, includes aluminum fingers (HND- Hand-E Basic Gripper Unit HND-GRP-001 FIN-ALU-KIT) Gripper basic unit (HND-GRP-001)
  • Page 85 Gripper fixation and 1 m pigtail cable To install Hand-E on a robot that has a different bolt pattern than part GRP-CPL-062 (ISO 9409-1-50-4-M6), you can use one of the following. The couplings listed below fit with both Hand-E and the 2-Finger Gripper.

  • Page 86: Troubleshooting

    9. Troubleshooting Section to be populated soon. Robotiq Hand-E Gripper - Instruction Manual...

  • Page 87: Warranty And Patent

    It is calculated in the internal memory of the Hand-E Gripper. During the warranty period, Robotiq will repair or replace any defective Hand-E, as well as verify and adjust the Gripper free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the equipment is sent back for verification during the warranty period and found to meet all published specifications, Robotiq will charge standard verification fees.

  • Page 88: Contact

    (+1) 418-380-2788 Outside US and Canada 1-418-800-0046 Technical support option 3 Sales option 2 Head office Robotiq 966, chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com Robotiq Hand-E Gripper - Instruction Manual...

  • Page 89: Harmonized Standards, Declarations And Certificates

    2000        Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary NF EN ISO 14539 and presentation of characteristics NF EN ISO 9409-1 2004 2004        Manipulating industrial robots — Mechanical interfaces — Part 1: Plates Robotiq Hand-E Gripper - Instruction Manual...

  • Page 90: Applied Standards

    12.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq Hand-E Gripper. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products.

  • Page 91: Ingress Protection Certificate

    12.3. Ingress Protection Certificate Robotiq Hand-E Gripper - Instruction Manual...

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