ROBOTIQ HAND-E Instruction Manual
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ROBOTIQ HAND-E Instruction Manual

For hanwha robots
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© 2024 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 © 2024 Robotiq, Inc. Robotiq Hand-E for Hanwha Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4. Mechanical Installation 3.5. Electrical Setup 3.6. Testing the Gripper with the Robotiq User Interface (RUI) 3.7. Installation for Hanwha Robots 4. Control 4.1. Overview 4.2. Gripper Register Mapping 4.3.
  • Page 3 6.2. Periodic inspection 6.3. Rack & pinion mechanism cleaning 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. Using the Robotiq User Interface (RUI) 9. Warranty and Patent 10. Harmonized Standards, Declarations and Certificates 10.1. EC declaration of incorporation 10.2. Applied standards 10.3.

  • 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 Revised data on register and bits in subsection "Modbus RTU Communication" Section "Specifications" Updated subsection "Fingers and Fingertips" with latest information on V-groove fingertips Updated subsection "Specifications" Revision 2019/10/10 Addition of the Electrostatic Discharge Safety section Revision 2019/05/17 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

    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

    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

    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

    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 18: 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 19 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. 3-3: Mounting fingertips on holders, and holders on racks. Robotiq Hand-E Gripper Instruction Manual...
  • Page 20 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. 3-4: Mounting extenders on fingers , and extenders on racks. Robotiq Hand-E Gripper Instruction Manual...

  • Page 21: 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 22 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. 3-6: Robotiq Hand-E with pigtail cable and device cable wiring scheme.

  • Page 23: Testing The Gripper With The Robotiq User Interface (Rui)

    Fig. 3-7: Hand-ERobot Gripper wiring to robot controller. 3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq Hand-E Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. Follow these instructions.
  • Page 24 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 grasping objects with various speed and force settings. See the Control section for details. Robotiq Hand-E Gripper Instruction Manual...

  • Page 25: Installation For Hanwha Robots

    Tap the Add to launch the file explorer. Then, the external and internal storage paths are displayed Fig. 3-9: Plugin management menu with Add button highlighted. Select the plugin you want to install and click the OK button Fig. 3-10: Selection of the plugin with the OK button highlighted. Robotiq Hand-E Gripper Instruction Manual...
  • Page 26 In the Plugin Management menu, select the plugin you want to delete and press the Delete button. Fig. 3-12: 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 27: 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 28 (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 29: 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 30: 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 31 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 32: Robot Input Registers And Status

    Symbols gOBJ gSTA gGTO Reserved gACT gACT Activation status, echo of the rACT bit (activation bit). 0x0 - Gripper reset. 0x1 - Gripper activation. gGTO Action status, echo of the rGTO bit (go to bit). Robotiq Hand-E Gripper Instruction Manual...
  • Page 33 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 34 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 35: Picking Features

    As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in Robotiq Hand-E Gripper Instruction Manual...
  • Page 36 Finger motion will stop when rPR position is reached, even if there is no object. Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost / dropped. Info Robotiq Hand-E Gripper Instruction Manual...
  • Page 37 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...
  • Page 38 Robotiq Hand-E Gripper Instruction Manual...

  • Page 39: 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.
  • Page 40 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 41 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 42 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 43 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 44 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 45 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 46 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 47 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 = 3100 3 for "Activation is completed" 4D61 Cyclic Redundancy Check (CRC) Robotiq Hand-E Gripper Instruction Manual...
  • Page 48 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 49 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 50 0000 full 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 51 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 52 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 53: 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 54 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 55 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 56 Once done, tap the Save action button. Fig. 4-10: Edit Action menu. set_tool_voltage(voltage) The voltage argument can be 0, 12 or 24. In the specific case of the Robotiq gripper, use 24 to turn the power on and 0 to turn it off.
  • Page 57 Disconnection of the grippers: 1. Call the rq_disconnect_grippers() function 2. Turn off the voltage using set_tool_voltage(0; 3. Physically disconnect the grippers Robotiq Hand-E Gripper Instruction Manual...

  • Page 58: 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 Center of Mass, Tool Center Point and Moment of Inertia...

  • Page 59: 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) with flat rubber (NPR) overmolded fingers. Robotiq Hand-E Gripper Instruction Manual...
  • Page 60 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 61 5.1.3. 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 62 The figure below represents the fingertip holder, i.e., the permanent, non customizable part of the gripper finger on which the fingertip must be mounted. As depicted in the technical dimensions of the Hand-E Gripper, the distance between the base of the Gripper and the part on which the fingers are mounted is 100.5 mm.
  • Page 63 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. 5-6: Fingertip Extender Robotiq Hand-E Gripper Instruction Manual...
  • Page 64 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. 5-8: Flat aluminum finger. Robotiq Hand-E Gripper Instruction Manual...
  • Page 65 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. 5-9: Grooved fingertip Robotiq Hand-E Gripper Instruction Manual...

  • Page 66: Mechanical Specifications

    0.5 mm 0.02 in Table 5-1: Mechanical specifications of the Hand-E Gripper fitted with coupling GRP-CPL-062 and aluminum fingertips (without NBR). The nominal payload is defined as the payload that determines the maximum load at a given acceleration (2 g). This payload needs to be validated based on the information found in subsequent subsections of this manual.
  • Page 67 Robot emergency stops will lead to major decelaration velocities. Info The Gripper has a power off brake. When the force setting is reached, the brake automatically engages for power consumption efficiency and safety purposes. Even without power, the gripping force is maintained. Robotiq Hand-E Gripper Instruction Manual...
  • Page 68 Gripper's finger pads and the load is a safety factor to be determined by the robot integrator The calculation of the payload mass has to account for the acceleration, the gravity and the external forces. Robotiq Hand-E Gripper Instruction Manual...
  • Page 69 The distance of the load (Z-axis offset) is calculated from the top of the Gripper, which is itself at a 100.5 mm distance from the base of the Gripper, as depicted in the technical specifications of the Hand-E Gripper. Observe the external forces (including the accelerated payload) applied to the finger attachment (when custom fingers are used).
  • Page 70 (2) M3 screws. The red curve in the graph represents the maximum load (W) at a given Z-offset for a custom finger design mounted directly on the rack with three (3) M3 screws. Robotiq Hand-E Gripper Instruction Manual...
  • Page 71 ) to operate with the maximum load allowed (W = 139 N). If the distance of the center of gravity is greater (d >1.83 d ), then the maximum load allowed lowers below 139 N, according to the previous equation. Robotiq Hand-E Gripper Instruction Manual...
  • Page 72 5.2.3. Moment and Force Limits for Standard Fingertips The standard fingertips of the Hand-E Gripper have limits for moment and force values. The maximum moment and force values are independent of the grasp force the Gripper applies on the payload.

  • Page 73: Electrical Specifications

    Usage examples with listed limits: After picking its normal payload, the robot can use Hand-E to apply a force of up to 139 N, minus the weight of the load, in any direction. Applying more than 139 N (including the weight of the load) can damage the Gripper or result in payload loss.

  • Page 74: 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 75 Interaction with operated parts (sharp or rough) Dynamics of the operation (accelerations) Robotiq Hand-E Gripper Instruction Manual...

  • Page 76: 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 77: 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 78: Rack & Pinion Mechanism Cleaning

    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 79 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 80: Spare Parts, Kits And Accessories

    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 81 2 x fingertips extender Hand-E Fingertips Extender HND-TIP-EXT-KIT 1 x screw kit 10 m Robotiq device cable for power and communication. Straight 10m Device Cable CBL-COM-2065-10-HF M12 5-pins female on one side, single ended on the other, shielded USB to RS485 adapter, can be used with device cable for...
  • Page 82 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 83 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD with (6) M8 screws and (2) AGC-APL-153-002 M8 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 84: Troubleshooting

    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 gripper and to your computer.

  • Page 85: Warranty And Patent

    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 86 Robotiq Hand-E Gripper Instruction Manual...
  • Page 87 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 88: Harmonized Standards, Declarations And Certificates

    10. Harmonized Standards, Declarations and Certificates 10.1. EC declaration of incorporation Robotiq Hand-E Gripper Instruction Manual...

  • Page 89: Applied Standards

    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 90: Ingress Protection Certificate

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

  • Page 91: Contact

    (+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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