ROBOTIQ Hand-E Manual
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ROBOTIQ Hand-E Manual

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Original Notice
© 2021. Robotiq, Inc.
Robotiq Hand-E
for OMRON-TM Series Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ Hand-E

  • Page 1 Original Notice © 2021. Robotiq, Inc. Robotiq Hand-E for OMRON-TM Series Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    4.3. Robot Output Registers & Functionalities 4.4. Robot Input Registers and Status 4.5. Picking Features 4.6. Control Logic Example 4.7. Modbus RTU Communication 4.8. Hand-E Gripper and I/O Coupling communication 4.9. Control over OMRON TM 5. Specifications 5.1. Technical dimensions 5.2. Mechanical Specifications 5.3.
  • Page 3 6.3. Rack & pinion mechanism cleaning 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. Using the Robotiq User Interface (RUI) 8.2. Troubleshooting OMRON TM Models 9. Warranty and Patent 9.1. I/O Coupling Warranty 10. Harmonized Standards, Declarations and Certificates 10.1. EC declaration of incorporation 10.2.

  • Page 4: Revisions

    Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at robotiq.com/support.
  • Page 5 Revision 2019/05/03 Updated environmental and operating conditions (Section 3.3) Revision 2019/03/13 Updated mechanical specifications (Section 6.2) Revision 2019/02/19 Updated Sections 4 and 6 to modify the grip force Revision 2018/12/10 First publication of the Instruction Manual. Robotiq Hand-E Gripper Instruction Manual...
  • Page 6 Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.

  • Page 7: General Presentation

    1. General Presentation The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in this manual are used interchangeably to designate the "Robotiq Hand-E Gripper". The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. It is a unique robotic end-of-arm tool designed to quickly pick, place and handle parts in a broad range of 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 Gripper. Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts.
  • Page 9 Parts, Kits and Accessories section). These fingertips should be mounted onto fingertip holders. Fig. 1-3: Mounting a fingertip on a fingertip holder (example). You can customize fingers and fingertips. Mount custom fingers on racks, and fingertips on fingertip holders. Robotiq Hand-E Gripper Instruction Manual...

  • 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

    (software packages are available for control via some types of robot controllers). 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 Specifications 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 Robotiq Hand-E Gripper:...

  • Page 13: Warning

    2.1.1. Risk assessment and final application: The Robotiq Hand-E 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 met.

  • Page 14: Installation

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

  • Page 15: Scope Of Delivery

    When bought as a kit, the gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling. Please refer to the Spare Parts, Kits and Accessories section. 3.1.1. Robotiq Hand-E OMRON TM Series Kit Standard upon delivery Robotiq Hand-E basic gripper unit (HND-GRP) Hand-E gripper Hand-E NBR overmolded aluminum fingers kit Screw kit...
  • Page 16 Hand-E Fingertip Starting Kit (HND-TIP-START-KIT) 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 17: 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 18: Environmental And Operating Conditions

    Maximum vibration (operating) IP Rating IP 67 Free from corrosive liquids or gases Other Free from explosive liquids or gases Free from powerful electromagnetic interference Table 3-2: Environmental and operating conditions of the Hand-E Gripper. Robotiq Hand-E Gripper Instruction Manual...

  • Page 19: Mechanical Installation

    When no tooth lock washer is present, lock screws in place using medium strength threadlocker. Tooth lock washers provide grounding for the casing of the gripper through the mounting screws. For more information, refer to the Electrostatic Discharge Safety section. Fig. 3-1: Installing Hand-E on the robot tool flange Robotiq Hand-E Gripper Instruction Manual...
  • Page 20 I/O Coupling: General Presentation and Nomenclature The Robotiq I/O Coupling is a robotic peripheral designed to allow a direct connection of the Robotiq Hand- E Gripper to theOMRON Robot tool flange. It removes the need of any cable management and avoids downtime caused by cable issues. The robot sends I/O signals to the coupling which sends Modbus RTU commands to the gripper based on four possible presets.
  • Page 21 A gripper firmware update may be required to use your Hand-E Gripper with the I/O Coupling. Make sure you have the latest version installed. 1. Connect the Hand-E Gripper to your computer via the I/O Coupling using the USB cable. If the I/O coupling got wet, make sure the micro USB port is properly dryed before connecting the USB cable.
  • Page 22 Fig. 3-3: Mechanical installation of the I/O Coupling and the Hand-E Gripper Robotiq Hand-E Gripper Instruction Manual...
  • Page 23 2. Mount the grippers' couplings on the mounting plate using the provided M6 X 12mm screws and tooth lock washers. 3. Mount the grippers onto the coupling using the provided M5 X 25 mm screws and tooth lock washers. Fig. 3-4: Dual Hand-E Gripper Configuration Robotiq Hand-E Gripper Instruction Manual...
  • Page 24 4. Apply low strength threadlocker on the provided screws and secure the fingertip to the fingertip holder. 5. Repeat for the second fingertip, if necessary. Fig. 3-6: Mounting fingertips on holders, and holders on racks. Robotiq Hand-E Gripper Instruction Manual...
  • Page 25 4. Apply low strength threadlocker on the provided M5 screw and secure the fingertip to the extender (5.65 Nm / 50.00 in-lb). 5. Repeat for the second fingertip if necessary. Fig. 3-7: Mounting extenders on fingers , and extenders on racks. Robotiq Hand-E Gripper Instruction Manual...

  • Page 26: Electrical Setup

    Robotiq Hand-E Gripper is not ESD safe. If installed properly using the tooth lock washers, the casing and internal mechanism are grounded through the screws used to mount the gripper on the coupling. The same is true for the coupling. For the Hand-E Gripper, the top part mounted on the casing using 6 screws, the fingertips and rails are isolated from the rest of the gripper.
  • Page 27 3.5.3. Coupling to Controller To connect a gripper to a network or robot controller via fieldbus communication, you can use the Robotiq Universal Controller . For details on the Robotiq Universal Controller, see its Instruction Manual on robotiq.com/support. Fig. 3-9: Wiring diagram of Hand-Efor robots requiring a RS485 to RS232 converter. Includes a device cable, power supply, fuse and ground.
  • Page 28 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 Also connect the red (24V) and black (0V) wires in the controller according to the figure below.
  • Page 29 It is possible to connect multiple grippers on the same robot. Only one RS485 to RS232 converter (ACC-ADT-RS232-RS485) should be used. Use 8 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10 m cable (CBL-COM-2065-10-HF). Fig. 3-12: Multiple grippers wiring Robotiq Hand-E Gripper Instruction Manual...
  • Page 30 3.5.4. Coupling to Tool Connector for I/O Coupling Fig. 3-13: Pinout of the I/O Coupling Robotiq Hand-E Gripper Instruction Manual...

  • Page 31: Control

    Select product > Hand-E Adaptive Gripper > [any robot brand] > Software > Robotiq User Interface > DOWNLOAD ZIP. Since the Robotiq Hand-E Gripper has its own embedded controller, you can use high-level commands such as "Go to requested position" to control it.
  • Page 32 (read) register status. The figure below is a representation of the memory and the control logic of the gripper. For details, see the Control Logic Example section Fig. 4-1: Hand-E control logic overview Robotiq Hand-E Gripper Instruction Manual...

  • Page 33: Gripper Register Mapping

    ACTION REQUEST 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 34: Robot Output Registers & Functionalities

    The rATR bit overrides all other commands excluding the activation bit (rACT). 0x0 - Normal. 0x1 - Emergency auto-release. Robotiq Hand-E Gripper Instruction Manual...
  • Page 35 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 255 fully closed, with a quasi-linear relationship between the two values. Robotiq Hand-E Gripper Instruction Manual...

  • Page 36: Robot Input Registers And Status

    4.4. Robot Input Registers and Status 4.4.1. Register: GRIPPER STATUS Address: Byte 0 Bits Symbols gOBJ gSTA gGTO Reserved gACT gACT Activation status, echo of the rACT bit (activation bit). 0x0 - Gripper reset. 0x1 - Gripper activation. Robotiq Hand-E Gripper Instruction Manual...
  • Page 37 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. 4.4.2. Register: RESERVED Address: Byte 1 Bits Symbol Reserved Robotiq Hand-E Gripper Instruction Manual...
  • Page 38 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 and status). Robotiq Hand-E Gripper Instruction Manual...
  • Page 39 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 40: Picking Features

    Info Feature is off at force request rFR = 0, otherwise it is on. Re-grasp will keep the position setting: Finger motion will stop when rPR position is reached, even if there is no object. Robotiq Hand-E Gripper Instruction Manual...
  • Page 41 1. From the previous example, after an object is picked a. gOBJ == 0x02 2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost. Robotiq Hand-E Gripper Instruction Manual...
  • Page 42 4.5.4. Brake engagement Hand-E is equipped with a brake that engages at the end of every gripper move, and disengages between moves. For instance, when fully closing on an object, the gripper touches the object, activates the brake, and sends the object detection signal to the robot.

  • Page 43: Control Logic Example

    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 44 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 45 Function Code 04 (Read Input 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 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 Number of registers written to (2) Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes) 00E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA 2D0C Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 48 F6C1 Cyclic Redundancy Check (CRC) Response contents might change depending on gripper status. Info Gripper executes the input command ("write" command), executes one cycle of motion, updates the output, then returns the Modbus response read. Robotiq Hand-E Gripper Instruction Manual...
  • Page 49 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 3100 for "Activation is completed" 4D61 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 0E0A current is 100mA (these values will change during motion) B66D Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 54 Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full 0000 opening of the Gripper (partial opening would also be possible) FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 7219 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 55 Request is: 09 04 07 D0 00 03 B1 CE Bits Description SlaveID Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) B1CE Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 56 Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have 0D00 reached their software limit) 17AA Cyclic Redundancy Check (CRC) Step 9: To grip additional objects, loop from step 3. Robotiq Hand-E Gripper Instruction Manual...

  • Page 57: Hand-E Gripper And I/O Coupling Communication

    4.8. Hand-E Gripper and I/O Coupling communication The following communication parameters must be present: Baud rate: 115200 bps Parity: None Data: 8 bit Stop bit: 1 bit Slave ID: 1 to 9 Activation sequence In order to activate the sequence:...

  • Page 58: Control Over Omron Tm

    4.9. Control over OMRON TM 4.9.1. Control with the OMRON TM Wrist Connection Kit TM Components for the I/O Coupling with the Hand-E Gripper Component Component node Functions Icon Components To activate the gripper and the I/O Coupling. Activate It must be used...
  • Page 59 4.9.3. Getting Started Power ON the robot. Click the triple bar icon in the upper left corner of the screen. Robotiq Hand-E Gripper Instruction Manual...
  • Page 60 Click Login in the left navigation pane. Enter your credentials, then click OK. Robotiq Hand-E Gripper Instruction Manual...
  • Page 61 Click on Get Control Click on the triple bar icon in the upper left corner, then select Project. Robotiq Hand-E Gripper Instruction Manual...
  • Page 62 Click New Project in the upper left corner. Enter a name for your program, then click OK. In the image below, it is called "Pick_And_Place". Robotiq Hand-E Gripper Instruction Manual...
  • Page 63 4.9.4. TM Gripper Components GRIPPER_ROBOTIQ_ADG_V001_ CHANGEGRIPPER.Component Here is the list of the current Robotiq adaptive grippers (i.e. "ADG") TM Components to install on TM Robots: GRIPPER_ROBOTIQ_ADG_V001_SET.Component = SET the Gripper (Speed, Force, Position) GRIPPER_ROBOTIQ_ADG_V001_CLOSE.Component = CLOSE the Gripper (Action) GRIPPER_ROBOTIQ_ADG_V001_OPEN.Component = OPEN the Gripper (Action) GRIPPER_ROBOTIQ_ADG_V001_CHANGEGRIPPER.Component = CHANGE the address of the Gripper/dual Gripper...
  • Page 64 The "System Setting" window is displayed. Click Import/Export. The Import/Export main window is displayed. Select the Import tab. Robotiq Hand-E Gripper Instruction Manual...
  • Page 65 The "Robot List" window is displayed. Select TMComponents, then OK. From the Import/Export window, select the Import tab, then Component. Check the box of each component you want to import. It is moved under the "Selected files" list. Robotiq Hand-E Gripper Instruction Manual...
  • Page 66 Move all required components to the "Selected files" window, and click the Import button in the bottom right corner. A confirmation message is displayed. Click the triple bar icon, and select Setting. Robotiq Hand-E Gripper Instruction Manual...
  • Page 67 The "Component List" window is displayed. To enable a component from the list, select its corresponding radio button. The corresponding Component radio button turns green when a Component is enabled. After you enable all required Com- ponents, click Save. Robotiq Hand-E Gripper Instruction Manual...
  • Page 68 Create a new project or open an existing project, and locate the Gripper components in the navigation pane Robotiq Hand-E Gripper Instruction Manual...
  • Page 69 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...
  • Page 70 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 Robotiq Hand-E Gripper Instruction Manual...
  • Page 71 Drag and drop the SET Component icon after a program Gateway to place a SET program node (ADG_V001_SET1) Tap the SET node to highlight it and click on the pencil to edit the settings Fig. 4-3: SET Node Settings Menu Robotiq Hand-E Gripper Instruction Manual...
  • Page 72 Set opening force var_Open_force Hand-E 0~100%=20~130N Set opening speed Open_Setting var_Open_speed Hand-E 0~100%=20~150mm/s Set opening position var_Open_pos Hand-E 0~100%=0~50mm/s Please set as Com1, Com2, Com3, following ComPort_Setting var_ComPort the com port to which you connect the gripper. Robotiq Hand-E Gripper Instruction Manual...
  • Page 73 Tap the CLOSE node to highlight it and click on the pencil to edit the settings Fig. 4-4: CLOSE Node Settings Menu Setting Variable Type Default Description Close_Setting var_wait_for_motion_ Set to false to exit the Close node bool true completed before the motion is complete. (SET Node) Robotiq Hand-E Gripper Instruction Manual...
  • Page 74 Tap the OPEN node to highlight it and click on the pencil to edit the settings Fig. 4-5: OPEN Node Settings Menu Setting Variable Type Default Description Open_Setting var_wait_for_motion_ Set to false to exit the Open node bool true completed before the motion is complete. (SET Node) Robotiq Hand-E Gripper Instruction Manual...
  • Page 75 Select the Slave ID as the current Change_Gripper Var_Slave_ID 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). Robotiq Hand-E Gripper Instruction Manual...
  • Page 76 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). Robotiq User Interface...
  • Page 77 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. Robotiq Hand-E Gripper Instruction Manual...

  • Page 78: Specifications

    5. Specifications Info This manual uses the metric system. Unless otherwise specified, all dimensions are in millimeters. The following subsections provide data on the various specifications for Robotiq Hand-E Gripper. Technical dimensions section Dimensions of the Gripper Dimensions of couplings...

  • Page 79: Technical Dimensions

    The figure below represents the gripper dimensions with axes X, Y, Z, and origin referenced for finger motion. Info All technical drawings in the current section depict aluminum fingers. Fig. 5-1: General dimensions of Hand-E (open). Robotiq Hand-E Gripper Instruction Manual...
  • Page 80 5.1.2. Couplings The Hand-E Gripper requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling GRP-CPL-062 and GRP-ES-CPL-062 (please refer to the Spare Parts, Kits and Accessories section) is...
  • Page 81 The contact grip points for Hand-E are its two fingertip pads. Robotiq offers a selection of fingertips (see the Spare Parts, Kits and Accessories section), and users can create custom fingertips. The figure below represents the fingertip holder, the permanent, non customizable part of the gripper finger on which the fingertip must be mounted.
  • Page 82 Fingertip Extenders The figure below represents the fingertip extenders (HND-TIP-EXT-KIT). For details, see the Spare Parts, Kits and Accessories section. This extender allows an opening ranging from 40 up to 98 mm. Fig. 5-5: Fingertip Extender Robotiq Hand-E Gripper Instruction Manual...
  • Page 83 Flat Aluminum Finger The figure below represents a flat aluminum finger (HND-FIN-ALU-KIT). For more details, refer to the Spare Parts, Kits and Accessories section. This finger allows a 50 mm stroke. Fig. 5-7: Flat aluminum finger. Robotiq Hand-E Gripper Instruction Manual...
  • Page 84 The figure below shows the V-groove fingertip (HND-TIP-VGR-KIT). For details, see Spare Parts, Kits and Accessories section. This fingertip inner surface has vertical grooves, making it ideal for picking cylindrical parts. This fingertip must be mounted on the racks using the fingertip holder (HND-TIP-HLD-KIT). Fig. 5-8: Grooved fingertip Robotiq Hand-E Gripper Instruction Manual...

  • Page 85: Mechanical Specifications

    Resolution is the increment modified from a 1 bit difference of position/speed/force request (from 0 to 255). Table 5-1: Mechanical specifications of the Hand-E Gripper fitted with coupling GRP-CPL-062 and aluminum fingertips (without NBR). Robotiq Hand-E Gripper Instruction Manual...
  • Page 86 Fig. 5-9: Grasping force on Hand-E fingertips. Info The gripper has a power off brake. Without power, gripper fingers are blocked.
  • Page 87 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 Hand-E. Fig. 5-10: Z-axis offset at which force/payload is applied.
  • Page 88 In order to address other custom specific cases with regards to your own application, pay special attention to screws strength when mounting fingers. Friction grasp and form-fit grasp Fig. 5-12: Friction grasp and form-fit grasp. Maximum payload by grasp type Grasp Type Maximum Payload Friction grasp 4.7 kg Form-fit grasp 5 kg Robotiq Hand-E Gripper Instruction Manual...
  • Page 89 59.0 157.0 1068 Info For TCP and center of mass of the Hand-E Gripper used in combination with other Robotiq products, please consult the specific table provided on our support website. Info The angle to calculate the TCP for grippers mounted on a dual gripper assembly is as follows: Rx1 = 0 Ry1 = 0.7854...
  • Page 90 Fig. 5-14: 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 91: Electrical Specifications

    5.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) Peak current 680 mA Robotiq Hand-E Gripper Instruction Manual...

  • Page 92: 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 ( closing the fingers on themselves or picking an object while opening or closing).
  • Page 93 Interaction with operated parts (sharp or rough) Dynamics of the operation (accelerations) Robotiq Hand-E Gripper Instruction Manual...

  • Page 94: Gripper Cleaning

    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, Kits and Accessories section to order Hand-E replacement parts.

  • Page 95: 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 respecting to the instructions from the Gripper cleaning section 4. Finger movement must be symmetric and fluid; test opening and closing of the gripper: Robotiq Hand-E Gripper Instruction Manual...
  • Page 96 11. Reinsert the rack housing with racks on the gripper. Make sure the racks go in symmetrically compared to the center of the gripper. As a reference, both distances d represented in the figure below should be the same. Robotiq Hand-E Gripper Instruction Manual...
  • Page 97 12. Secure the rack housing using the six (6) M4 screws. Apply low strength thread locker to the M4 screw threads. 13. Put the gripper back on the coupling and secure it with the four (4) M5-0.8 x 25mm screws and tooth lock washers. Robotiq Hand-E Gripper Instruction Manual...
  • Page 98 Unless specified, screws, dowel pins and other hardware are only included for grippers, and not for robots. Item Description Ordering Number Hand-E basic gripper unit, includes flat rubber (NBR) overmolded Hand-E Basic Gripper Unit HND-GRP fingers (HND-FIN-MLD-KIT) Basic gripper unit (HND-GRP)
  • Page 99 Wrist connection Kit for Hand-E Fingertip Starting Kit HND-OMRON-KIT-W OMRON TM Series robot I/O Coupling Kit 10 m Robotiq device cable for power and communication. Straight 10m Device Cable M12 5-pins female on one side, single ended on the other, CBL-COM-2065-10-HF shielded...
  • Page 100 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 and adapter plates listed below fit with both Hand-E and the 2-Finger Gripper. Item...
  • Page 101 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD with (6) M8 screws and (2) M8 AGC-APL-153-002 indexing pins Pitch Circle Diameter For legacy part replacement visit the documentation archives and the appropriate manual or consult your Robotiq distributor. Robotiq Hand-E Gripper Instruction Manual...
  • Page 102 1. Install the Robotiq User Interface on a computer. 2. Connect your gripper to a computer USB port. 3. Send instructions to your gripper via the Robotiq User Interface. If this fails, check that all cables are connected to your grip- per and to your computer.
  • Page 103 9. Warranty and Patent Robotiq warrants Hand-E 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. The warranty applies under the following conditions: Usage respects the operating and storage conditions specified in the Environmental and Operating Conditions section Proper installation of the Gripper specified in the Installation section and following subsections.
  • Page 104 Robotiq shall not be liable for damages resulting from the use of the Hand-E, nor shall Robotiq be responsible for any failure in the performance of other items to which Hand-E is connected or the operation of any system of which the Gripper may be a part.
  • Page 105 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 106 10. Harmonized Standards, Declarations and Certificates 10.1. EC declaration of incorporation Robotiq Hand-E Gripper Instruction Manual...
  • Page 107 10.2. 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 108 10.3. Ingress Protection Certificate Robotiq Hand-E Gripper Instruction Manual...
  • Page 109 Sub-section 1.6 hereof including their modifications and upgrades and their related materials; 5. “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced manufacturing and sale of robotic products (the “Licensor’s Business”);...
  • Page 110 Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Web- site http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Soft- ware shall not be covered by this Section 4 but shall require that a new End-User Software License Agreement be entered into between the Licensor and the End-User.
  • Page 111 The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soient rédigés en anglais seulement. Robotiq Hand-E Gripper Instruction Manual...
  • Page 112 (+1) 418-380-2788 Outside US and Canada Technical support Extension 3 Sales Extension 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...

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