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ROBOTIQ Hand-E C10 Instruction Manual
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ROBOTIQ Hand-E C10 Instruction Manual

Gripper for universal robot
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Original Notice
© 2024 Robotiq, Inc.
Robotiq Hand-E C10
for Universal Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ Hand-E C10

  • Page 1   Original Notice © 2024 Robotiq, Inc. Robotiq Hand-E C10 for Universal Robots robotiq.com | leanrobotics.org Instruction Manual...
  • Page 2 3.5.3. Coupling to Controller 3.5.4. Coupling to Tool Connector for I/O Coupling 3.5.5. Coupling to Wrist for e-Series 3.6. Testing the Gripper with the Robotiq User Interface (RUI) 3.7. Installation for Universal Robots 3.8. URCap Package 3.8.1. Installing URCap Package 3.8.2.
  • Page 3 4.7.3. Preset multiple registers (FC16) 4.7.4. Master read and write multiple registers FC23 4.7.5. Modbus RTU example 4.8. Hand-E C10 Gripper and I/O Coupling communication 4.9. Control over Universal Robots 4.9.1. Control with the Standard Coupling Kit 4.9.2. Control with the Wrist Connection Kit (I/O Coupling) 4.9.3.
  • Page 4 6.2. Periodic inspection 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. Using the LED of the Hand-E C10 Gripper 8.2. Using the LED of the USB to RS485 converter 8.3. Using the Robotiq User Interface (RUI) 8.4. Troubleshooting Universal Robots Models 8.4.1.
  • Page 5 12. Contact Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 6 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 7 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 8: General Presentation

    Refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts.   The Hand-E C10 Gripper is a concentric gripper. Its 3 stepped fingers are actuated by a single motor. The basic gripper unit includes stepped stainless steel fingers. Fig. 1-1: Robotiq Hand-E C10 Gripper  ...
  • Page 9 1.1. Object picking The Hand-E C10 Gripper has a single actuator for opening and closing the fingers. It also allows internal and external gripping. The fingers can pick hollow parts from the inside by applying pressure with the outer surface of the fingers. The fingers can be flipped in order to accommodate internal or external gripping.

  • Page 10: Setup And Control

    Spare Parts, Kits and Accessories section for available couplings. The Hand-E C10 Gripper has an embedded object detection feature using indirect sensing methods. When picking an object with the "go to" command, the gripper status allows you to know whether an object is picked via a simple object detection bit (0 or 1): when detected, the gripper stops.
  • Page 11 The operator must have read and understood all of the instructions in the following manual before handling the RobotiqHand-E C10 Gripper.   INFO The term "operator" refers to anyone responsible for any of the following operations on the Robotiq Hand-E C10 Gripper:   Installation  ...

  • Page 12: Intended Use

      Risk assessment and final application The Robotiq Hand-E C10 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. There may be risks that require additional protection or safety measures.

  • Page 13: Installation

    When bought as a kit, the gripper comes in a package with the appropriate coupling, fingers or fingertips and cabling. Refer to the Spare Parts, Kits and Accessories section. 3.1.1. Robotiq Hand-E C10 Gripper UR Standard Kit Standard upon delivery for CB Series and e-Series  ...
  • Page 14 INFO Refer to the Spare Parts, Kits and Accessories section for a list of available couplings. 3.1.2. UR Wrist connection Kit for CB-Series Hand-E C10 Wrist Connection Kit for CB-Series (HND-UR-KIT-W) Standard upon delivery   Robotiq Hand-E C10 basic gripper unit (HND-C10-GRP)  ...

  • Page 15: Required Tools And Equipment

    The gripper needs to be supplied by a DC voltage source, which 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 16: Environmental And Operating Conditions

    Other   Free from explosive liquids or gases   Free from powerful electromagnetic interference Table 3-2: Environmental and Operating Conditions of the Hand-E C10 Gripper 3.4. Mechanical Installation 3.4.1. Installing the Gripper on the Robot Single Gripper Installation Instructions You must use a coupling to attach the gripper on the robot:  1.
  • Page 17 Tooth lock washers provide grounding for the casing of the gripper through the mounting screws. Refer to the Electrostatic Discharge Safety section.     INFO The following images display the Hand-E Gripper, but the same structure applies.   Fig. 3-1: Installing Hand-E C10 on the Robot Tool Flange for CB-Series Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 18 I/O Coupling: Overview and Nomenclature The Robotiq I/O Coupling is a robotic peripheral designed to allow a direct connection of the Robotiq Hand-E C10 Gripper to the Universal Robots CB-Series tool flange. It discards any cable management and avoids downtime caused by cable issues.
  • Page 19 The I/O Coupling comes with four (4) factory presets, as shown in the table below. These presets can be reconfigured on a computer before using them on a robot. To configure presets, follow the instructions in the Robotiq User Interface (RUI) manual, available on support.robotiq.com.  ...
  • Page 20 Make sure you have the latest gripper firmware version installed.    1. Connect the Hand-E C10 Gripper to your computer via the I/O Coupling using the USB cable. If the I/O Coupling is wet, make sure the micro USB port is properly dryed before connecting the USB cable.
  • Page 21 Fig. 3-5: 90˚ Bracket and the Hand-E C10 Gripper Multiple Grippers Installation - Dual bracket (Y) When installing multiple grippers on one robot, every gripper must have its own coupling: For e-Series:  1. Fasten the M8 splitter (ACC-SPLIT-M8-2:1) to the dual gripper adapter plate (AGC-APL-159-002).
  • Page 22  6. Mount each gripper onto its coupling using the provided M5 x 25 mm screws and tooth lock washers. Tighten the M5 screws to 3 Nm. Fig. 3-7: Dual Bracket with Hand-E C10 Gripper Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 23  4. Mount each gripper's couplings on the Compact Dual Bracket using the provided M6 x 12 mm screws and tooth lock washers.  5. Mount each gripper onto its coupling using the provided M5 x 25 mm screws and tooth lock washers. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 24  3. Apply low strength threadlocker on the provided M4 screws and secure the finger to the rack.  4. Tighten the two (2) screws to 3 Nm.  5. Repeat for the second and third fingers Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 25 Fig. 3-10: Hand-E C10 Stepped Finger 3.4.3. Installing extenders on the Gripper  1. Insert the dowel pin into the gripper’s rack.  2. Align the extender dowel pin hole with the dowel pin on the rack.  3. Apply low strength threadlocker on the provided M4 screws and secure the finger extender to the rack.
  • Page 26 2Nm.  6. Ensure that the fingers are not in contact with the stop plate by closing the gripper. No Spacer Short Spacer Long Spacer Short + Long Spacers Fig. 3-12: Installing Hand-E C10 Stop Plate Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 27: Electrical Setup

    3.5. Electrical Setup Power and communication are established with the Hand-E C10 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.
  • Page 28 A and B signals must be balanced at 120 Ohms. Single Gripper (for CB-Series) Prior to any software installation on Universal Robots, connect the white, blue, and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB). Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller.
  • Page 29 Fig. 3-14: Hand-E C10 Gripper Wiring to Universal Robots Controller Multiple Grippers (for CB-Series) Connecting and controlling up to four grippers on the same robot is possible. Only one USB to RS485 converter (ACC- ADT-USB-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10 m cable (CBL-COM-2065-10-HF) that connects to the RS485 to RS232 converter.
  • Page 30 Fig. 3-16: Pinout of the I/O Coupling 3.5.5. Coupling to Wrist for e-Series Single Gripper The figure below represents the wiring schematic of Hand-E C10 with a coupling connecting directly to the robot wrist.   INFO The following images display the Hand-E Gripper, but the same structure applies.
  • Page 31   3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq Hand-E C10 Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. Follow these instructions.  1. Install the Robotiq User Interface (RUI). For details, see the Robotiq User Interface manual, available at .robotiq.com/support...

  • Page 32: Installation For Universal Robots

    3.7. Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots' controller. If you are using a CB3, CB3.1, or e- Series controller, it is recommended to use the Robotiq Grippers URCap Package.
  • Page 33 Compatible and later versions Table 3-5: Compatibility between Robotiq software and robot controller Refer to the URCap Package section for the installation of the UR software package for Hand-E C10.   CAUTION  1. The robot's PolyScope version must be 3.5 or later in order to install the URCap.
  • Page 34  6. Access the Setup Robot.  7. Tap URCaps Setup.   To identify your PolyScope version, go to the PolyScopehome page and tap About. A window containing the Universal Robots software version is then displayed.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 35  1. Restart PolyScope to complete the URCap installation. By doing so, you accept the License Agreement that is detailed in the URCap information text box (please refer to the License Agreement section).  1. When PolyScope reopens, the Gripper Toolbar will appear on the screen. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 36 URCap package.  2. Browse to support.robotiq.com and click Select product > Hand-E C10 Adaptive Gripper > Universal Robots > Software > Gripper Software.  3. Download the UCG-X.X.X and extract its content on the root of a blank USB stick.
  • Page 37  6. Go back to the gripper Dashboard, and tap Scan. An icon should confirm your gripper is connected. To activate it, tap Activate. You can now use your gripper. Tap E-Open or E-Close to test it.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 38  2. From the left navigation pane, tap URCaps.  3. Tap Gripper.  4. Tap the Dashboard tab.  5. Perform steps 3 to 6 listed under the Activating a Gripper Connected to the Robot Wrist on a e-Series Robot section. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 39 Tap E-Open and E-Close to test each gripper. 3.8.2. Uninstalling URCap Package If you wish to uninstall the Hand-E C10 Gripper URCap, follow this procedure: For CB-Series  1. Go to Setup Robot. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 40  3. Tap the minus button (-) to uninstall the URCap.  4. Restart PolyScope to complete the uninstallation process.   For e-Series  1. On the teach pendant, tap the triple bar icon in the upper right corner of the screen.  2. Tap Settings. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 41  2. Select URCaps in the dropown list.  3. Select the URCap to uninstall.  4. Press the minus (-) button to remove the URCap.  5. Tap the Restart button to deactivate the URCap.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 42 Select product > Hand-E C10 Adaptive Gripper > [any robot brand] > Software > Robotiq User Interface > DOWNLOAD ZIP.   The Robotiq Hand-E C10 Gripper has its own embedded controller. Use high-level commands such as Go to requested position to control it.  ...

  • Page 43: Gripper Register Mapping

    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 C10 Gripper   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 44 Automatic Release routine action slowly opens the gripper fingers until all motion axes reach their mechanical limits. After all motions are completed, the gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit overrides all other commands excluding the activation bit (rACT). Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 45 For detailed finger trajectory, see the Specifications section.   0x00 - Open position, 40 mm opening   0xFF - Closed   Opening / count: ≈0.16 mm for 40 mm stroke   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 46   INFO Register bytes 6 to 15 are reserved and should be set to 0.   4.4. Robot Input Registers and Status 4.4.1. Register: GRIPPER STATUS Address: Byte 0 Bits Symbols gOBJ gSTA gGTO Reserved gACT Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 47 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.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 48   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 C10 Gripper Instruction Manual...
  • Page 49 0xFF - Fully closed. 4.4.6. Register: CURRENT Adress: Byte 5 Bits Symbol The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA.   Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 50: Force Control

    When Re-grasping, the gripper will attempt to close until it reaches the position request (rPR).   This feature is automatically set according to the force request rFR.   Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 51: Object Detection

     3. Then object detection status will be "in motion"  a. gOBJ == 0x00  4. Until an object is picked, object detection status will then be "stopped due to contact while closing"  a. gOBJ == 0x02 Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 52: Control Logic Example

    4.5.4. Brake engagement Hand-E C10 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 53 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 54: Read Input Registers (Fc04)

    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. Maximum baud rate of ACC-ADT-USB-RS485 is 115200 bps. 120 Ohms termination resistor is already present on the converter and the Gripper. If multiple grippers are connected in parallel on the same RS485 cable, termination resistor must be set to OFF in communication parameters.
  • Page 55 Function code 23 (FC23) is used for reading the status of the gripper (robot input) and activating gripper functionalities (robot output) simultaneously. Examples of such data are gripper status, object status, finger position, etc. Action requests are speed, force, etc. Example of reading and writing multiple registers FC23: Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 56 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 1000 Content of register 07D0 09E6 Content of register 07D1 F6C1 Cyclic Redundancy Check (CRC)   Response contents might change depending on gripper status.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 57 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0000 0x00): rACT = 1 for "Activate Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 7330 Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 58 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0100 0x00): rACT = 1 for "Activate Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 72E1 Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 59 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1 1100 for "Activation in progress" 54A1 Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 60 Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/255 for 00FF full closing of the Gripper FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 4229 Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 61 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 C10 Gripper Instruction Manual...
  • Page 62 GRIPPER STATUS is valid. Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to BD00 validate the size of the seized object) 5C9A Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 63 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 C10 Gripper Instruction Manual...
  • Page 64 Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor BB10 current is 160mA (these values will change during motion) 7106 Cyclic Redundancy Check (CRC)   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 65 17AA Cyclic Redundancy Check (CRC) Step 9: To grip additional objects, loop from step 3. 4.8. Hand-E C10 Gripper and I/O Coupling communication The following communication parameters must be present:   Baud rate: 115200 bps  ...
  • Page 66 A Gripper firmware update is required to use your gripper with the I/O Coupling. Make sure you have the latest version installed. If an update is necessary on the I/O Coupling or the gripper, the Robotiq User Interface (RUI) will warn you and request the update.
  • Page 67 Wrist Connection Activation   Wrist Connection   Wrist Grip Check Fig. 4-3: Program Structure Editor   The Wrist connection Activation node will activate the device in the program. Fig. 4-4: Wrist Connection Activation Interface Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 68 The Wrist Grip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the object is not detected. Fig. 4-6: Wrist Grip Check Node Interface Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 69   In the Wrist Connection Toolbar, you can:   Test the 4 presets;   See the Object Detection Status;   Activate the Gripper Fig. 4-7: Wrist Connection Toolbar Interface Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 70  3. Tap the Gripper button.  4. Select the Dashboard tab.  5. If the gripper is connected to the robot wrist (and not to the robot controller or via a Robotiq Wrist Camera), tick the "Gripper cable is connected to the wrist box.
  • Page 71  4. If no gripper is found, tap the Scan button to detect any gripper that might be connected to the robot.  5. Tap the Activate button. Fig. 4-10: Gripper Dashboard (steps highlighted)  6. If required, change the ID of the gripper; ID numbers range from 1 to 4   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 72   For each gripper connected, follow the required steps in one of the two following sections depending on your robot model: the Single Gripper for CB-Series section or the Single Gripper for e-Series section Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 73 Tapping this button sends an emergency open E-Open command to the corresponding gripper, whether it is activated or not. Tapping this button sends an emergency close E-Close command to the corresponding gripper, whether it is activated or not. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 74  5. To choose a new password, tap the Change password button, and follow instructions on screen. To save your new password, tap Change. Fig. 4-14: Modification of the Current Password   Default password: rqsafe. If you lose your password, contact support team to reset it. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 75  3. Tap the Gripper button. For CB-Series  1. Go to the Installation tab.  2. Select Gripper in the left pane.   INFO A gripper that has not been calibrated will display open and closed values in percentage.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 76 Depending on the PolyScope settings defined by the user, the units of measurement can either display according to the metric or imperial system.   Fig. 4-17: Step 1 - Set Closed Position Fig. 4-18: Step 2 - Set Open Position Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 77  3. If the fingers are mounted on extenders, add the number corresponding to the position of the finger on the extender. Fig. 4-20: Diameter Values on Standard Fingertips   CAUTION The values written on the fingertips are in millimeters. They should be converted to inches if your PolyScope uses imperial units.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 78 Description After selecting the gripper in the left pane of the Installation tab, tap this Calibration button to access the Gripper Calibration menu. The Calibrate and Recalibrate buttons Calibrate/Recalibrate launch the Gripper Calibration wizard. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 79 Tap this button to open the Gripper in Open the Calibration wizard. Visual aid for entering the fully closed Fully closed dimension in the Calibration wizard. Visual aid for entering the fully open Fully open dimension in the Calibration wizard. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 80 On CB-Series, right after the installation of the Gripper URCap, a collapsed Gripper Toolbar will display at the top of the screen. Fig. 4-24: Gripper Toolbar (collapsed) An expanded Gripper Toolbar prior to the activation of the gripper looks like the figure below: Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 81 Please refer to the Gripper Calibration menu and wizard section for instructions.   Once the gripper is activated, the toolbar can be expanded and used to test and jog the gripper. Fig. 4-26: Gripper Toolbar After Activation Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 82   INFO For consistency, selecting multiple grippers at the same time displays the open and close values in percentage since their stroke might be different.     Fig. 4-27: Gripper Toolbar (Expanded, Multiple Grippers) Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 83 Emergency open Slowly moves the gripper to its fully closed position. Emergency close Slowly moves the gripper to its fully open position.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 84 0% : minimum force, regrasp feature disabled Requested force   1% : minimum force, with regrasp feature enabled   100% : maximum force, with regrasp feature enabled Plus Tap to increase the corresponding parameter. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 85 URCap version 1.0.2, the Gripper activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 86 (e.g. Grippers 1,2,3,4)   When the gripper action is set to close, a green "Close" icon appears. When the gripper action is set to open, a green "Open" icon appears. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 87 X and Y axes of the TCP frame during the gripper compliance motion. This can help with immovable objects that are not perfectly centered in the Gripper, allowing the robot to align itself with the object. Unselected: No force mode will be used. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 88 Gripper Move x%/mm/in, when position is between the fully open and fully closed values. When position requested is 0%, or the fully opened value Open request defined in the Calibration wizard. Close request When position request is 100%. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 89 To jog the position, select only one gripper, jog the position and then select all grippers. The second gripper will move to the requested position.   When no grippers are selected, the action cannot be edited. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 90 Gripper node. No object detected Icon shown when no object is detected during a grasp. Object detected Icon shows a green checkmark when an object is detected during a grasp.   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 91 Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to the object's dimension (in percentage if the gripper is not calibrated, or in mm/in if the gripper is calibrated—depending on the PolyScope configuration). Fig. 4-28: Grip Check Node Interface Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 92  1. Create or load a robot program.  2. Tap the Installation tab.  3. Select Gripper in the left pane.  4. Tap the About submenu. Fig. 4-30: About Submenu Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 93   Single Gripper with I/O Coupling (UCH-1.0.0 +) To use the Object Detection feature, the Tool Inputs can be used. Fig. 4-31: Command Window Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 94 Can be used to verify that the pick is successful, by comparing the finger position when the pick was taught with the similar-sized object. rq_get_gripper_max_cur(current_mA) Returns the maximum supply current value of the appropriate gripper in mA. rq_gripper_led_off() Forces the LEDs to OFF status. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 95 Resets the gripper's activation status. Use after an autorelease before activating rq_reset() the gripper. rq_set_force_norm(force) Sets the gripper's force defined by the argument, normalized from 0% to 100%. rq_set_speed_norm(speed) Sets the gripper's speed defined by the argument, normalized from 0% to 100%. Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 96 Multiple Grippers Here is an example of how to use the script commands with more than one gripper. Fig. 4-32: Example of UR ScriptCommands with Multiple Grippers Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 97 This action can be performed using the following UR script:   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 98  3. Call the rq_reconnect_grippers(False) function to launch the reconnection process in the background of the program  4. Perform the rest of the program   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 C10 Gripper Instruction Manual...

  • Page 99: Specifications

    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 stepped fingers.   Fig. 5-1: General Dimensions of Hand-E C10 (open) with Flat Rubber (NPR) Stepped Fingers Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 100 All mass and center of mass values include coupling, fasteners and stepped fingers. All given TCPs are located at the top of the larger diameter finger step.   This table presents the center of mass and TCP of different combination for the two (2) Hand-E C10 grippers.   TCP (mm)
  • Page 101 -84.2 124.2 4521.0 90˚ bracket All mass and center of mass values include coupling, fasteners and stepped fingers. All given TCPs are located at the top of the larger diameter finger step.     Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 102 Here is the approximate moment of inertia matrix for the gripper: Fig. 5-2: Inertia Matrix for Hand-E C10 5.1.3. Couplings The Hand-E C10 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...
  • Page 103 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 C10 Gripper, the distance between the base of the Gripper and the part on which the fingers are mounted is 114.75 mm.
  • Page 104 The figure below represents a Stainless steel stepped finger. For more details, refer to the Spare Parts, Kits and Accessories section. This finger allows the gripper to pick part diameter up to 114 mm (external grip) and 140 mm (internal grip). Fig. 5-6: Stainless Steel Stepped Finger Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 105: Mechanical Specifications

    Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an object using standard stepped finger. For more details, refer to the blog.robotiq.com article on repeatability. Position repeatability varies depending on product wear and operating conditions.
  • Page 106 The acceleration (or deceleration) times the mass of the object is a force exerted on the Gripper. The sum of all forces must not exceed the maximum load of the Gripper (196 N).   Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 107 The eccentricity of the load is the distance between the center of gravity of the load and the point at which the load makes contact with the Gripper fingers. (Zcg in the figure below). Fig. 5-7: Hand-E C10 Load Eccentricity Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 108 F is the force applied on the load by the Gripper's finger pads (525 N if the force setting is at 100%)   is the friction coefficient between the Gripper's finger and the load   is a safety factor to be determined by the robot integrator Robotiq Hand-E C10 Gripper Instruction Manual...
  • Page 109   CAUTION The most important factor in payload and weight calculations is the friction coefficient. Robotiq recommends assessing, validating and testing the resulting friction coefficient.   5.2.3. Moment and Force Limits for Standard Fingertips In some cases, custom finger design is required (mechanical notch, form fit grasp) to increase gripper’s capacity. The maximum allowable moment and force values on the rack must not be exceeded.

  • Page 110: Electrical Specifications

    *Moments in x, y, and z are calculated from the top of the rack. Fig. 5-8: Reference Frame for Maximum Force and Moment Values 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 C10 Gripper Instruction Manual...

  • Page 111: 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 112: Gripper Cleaning

    If debris are still present, blowing clean and dry air into the rack groove or into cleaning hole can help remove the remaining dirt. Fig. 6-1: Hand-E C10 Gripper Cleaning  4. Clean the coupling with a dry towel. Pay particular attention to the electrical contact.
  • Page 113   Stop plate and spacers If there is wear visible, you can change these components, using the ones provided by Robotiq or custom ones. See Spare Parts, Kits and Accessories section to order Hand-E C10 replacement parts. In order to replace a finger and/or finger extender  1.

  • Page 114: Periodic Inspection

    Finger or fingertip wear must not affect gripping, if wear is visible and affects movement, change accordingly. Refer to the Gripper cleaning section.   Check for any collision damage. If damage is visible, contact support@robotiq.com.   Check for any sign of wear on the gripper chassis. If wear is present and may affect the gripper, contact support@robotiq.com.

  • Page 115: 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 Concentric Gripper Hand-E C10 basic gripper unit only including stepped finger stop GRIPPER-HND-C10 Unit plate. Hand-E C10 stop plate spacers and finger extenders including Hand-E C10 Accessories Kit...
  • Page 116   To install Hand-E C10 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 C10 and the 2-Finger Gripper.
  • Page 117 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 C10 Gripper Instruction Manual...

  • Page 118: Troubleshooting

    8. Troubleshooting 8.1. Using the LED of the Hand-E C10 Gripper When using Hand-E C10 with a USB to RS485 serial converter, the color of the LED on your gripper can provide information on the issue you are facing. LED status Description Solutions Check gripper power supply and electrical setup.
  • Page 119 8.2. Using the LED of the USB to RS485 converter When your Hand-E C10 Gripper LED is solid red, and you are using a USB to RS485 converter, refer to current subsection to troubleshoot. Check the LED on your converter, and read the table below for details.
  • Page 120 8.4. Troubleshooting Universal Robots Models 8.4.1. From the Universal Robots teach pendant To install a URCap, see the Installing URCap Package section. In case the URCap is already installed, but Hand-E C10 cannot be controlled with the teach pendant, follow these instructions:  1.
  • Page 121  3. Use the 24V slider in the I/O tab under the Tool Output section to slide it to 0 and then back to 24V. It should enable the communication with the robot. Fig. 8-3: Voltage Set to 24V Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 122: Warranty And Patent

    Cycle count: One (1) cycle is defined as an object picking attempt, successful or not(open or closing onto an object, or closing on itself). It is calculated in the internal memory of the Hand-E C10 Gripper and can been seen on the teach pendant when using with Universal Robots or with the Robotiq User Interface.
  • Page 123 Robotiq shall not be liable for damages resulting from the use of the Hand-E C10, nor shall Robotiq be responsible for any failure in the performance of other items to which Hand-E C10 is connected or the operation of any system of which the Gripper may be a part.

  • Page 124: Applied Standards

    10.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq Hand-E C10 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 125 10.3. Ingress Protection Certificate Robotiq Hand-E C10 Gripper Instruction Manual...

  • Page 126: License Agreement

    Sub-section 1.4 hereof including their modifications and upgrades and their related materials;  3. “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 127 Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Website http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Software 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 128  h. 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 C10 Gripper Instruction Manual...
  • Page 129 Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and Canada Technical support and engineering option 3 Sales option 2 Head office Robotiq: 966, chemin Olivier Suite 500 St-Nicolas, Québec G7A 2N1 Canada     Robotiq Hand-E C10 Gripper Instruction Manual...