ROBOTIQ S Model Instruction Manual
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ROBOTIQ S Model Instruction Manual

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© ROBOTIQ INC. 2012
Get the latest version of the manual at support.robotiq.com
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Summary of Contents for ROBOTIQ S Model

  • Page 1 © ROBOTIQ INC. 2012 Get the latest version of the manual at support.robotiq.com...

  • Page 2: Table Of Contents

    8. Contact ....................59 Robotiq inc. © 2011...

  • Page 3: Revisions

    This manual, and the product it describes, are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format.

  • Page 4: General Presentation

    Robotiq Adaptative Gripper, S model Instruction Manual 1. General Presentation The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper" and "Robotiq Adaptive Gripper" used in the following manual all refer to the Robotiq Adaptive Gripper S model . The Robotiq Adaptive Gripper S model is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to pick, place and handle a large range and volume of parts of varying sizes and shapes.
  • Page 5 Robotiq Adaptative Gripper, S model Instruction Manual Figure 1.2 – First type of movement of the Adaptive Gripper S model: changing the Operation Mode basic mode is the most versatile Operation Mode. It is best suited for objects that have one dimension longer than the two others but can grip a large variety of objects.
  • Page 6 Figure 1.4 – Second movement of the Adaptive Gripper S model: closing and opening the fingers. Two types of grips occur when closing the Adaptive Gripper S model on an object: Fingertip Grip or Encompassing Grip. Fingertip Grip is when an object is only held by the distal phalanxes.
  • Page 7 Robotiq Adaptative Gripper, S model Instruction Manual Figure 1.5 – The Two Types of Grip: Encompassing and Fingertip Grips. It is important to note that a Fingertip Grip can only be performed when the fingers touch the object with the distal phalanxes first. Inversely, for an Encompassing Grip, the fingers must touch the object with the proximal or medial phalanxes first.
  • Page 8 Robotiq Adaptative Gripper, S model Instruction Manual Figure 1.6 – Operation Modes vs. Types of Grip. Robotiq inc. © 2011...

  • Page 9: Safety

    The Gripper is NOT intended for applying force against objects or surfaces. The unit may be used only within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from improper use.

  • Page 10: Installation

    You must use a faceplate to attach the Gripper to the robot. Be sure to use the faceplate related to your robot model. If there is no faceplate for your robot, you can modify a blank faceplate model or Robotiq can create a custom version for you. (Please refer to the...

  • Page 11: Power Supply Specifications

    1 The Gripper has built-in overvoltage protection. 3.4 Wiring Two connections are needed for the Adaptive Gripper S model, one for the power and one for the communication. On the Gripper, both are located on the Connection Panel shown in Figure 3.4.1.

  • Page 12: Power Connection

    Figure 3.4.1.1 – Power connection diagram of the Adaptive Gripper S model. Caution The 4A fuse is external to the Gripper. It is not provided by Robotiq and the user is responsible for proper installation. The pin-out of the power connectors is detailed in Figure 3.4.1.2.

  • Page 13: Communication Connection

    Modbus RTU The communication cable and connectors provided with the Robotiq Adaptive Gripper S model vary with the communication protocol option choice. Each protocol has its own pin-out and cable, provided cable have an approximate length of 5m. See details in the following sections for your communication pinout.

  • Page 14: Devicenet Communication Protocol

    There is no terminating resistor mounted in the Gripper. The shield of the cable must be grounded in the robot controller. The DeviceNet communication and the Adaptive Gripper S model use 24 V supply. Robotiq suggests to separate power supplies as shown in Figure 3.4.2.2.
  • Page 15 Robotiq Adaptative Gripper, S model Instruction Manual Factory settings for DeviceNet protocol: IDENTIFICATION SETTINGS Info Decimal value (base 10) Hexadecimal value (base 16) Vendor ID : 0x0000011B Product Code : 0x00000023 Serial Number : 0x00000000 Product Type : 0x0000000C Major Revision :...

  • Page 16: Canopen Communication Protocol

    Instruction Manual CANopen communication protocol Figure 3.4.2.3 shows the pin-out for the CANopen communication protocol for the receptacle (male) present on the Adaptive Gripper S model and the cable (female) provided with your Gripper. Figure 3.4.2.3 – CANopen communication pinout.

  • Page 17: Real-Time Ethernet Communication Protocol

    Real-time Ethernet communication protocol Real-time Ethernet communication includes Ethernet/IP, EtherCAT and Modbus TCP/IP protocols. See the Real-Time Ethernet pin-out diagram below (Figure 3.4.2.5) for the receptacle (male) present on the Adaptive Gripper S model and the cable (female) provided with your Gripper.
  • Page 18 Robotiq Adaptative Gripper, S model Instruction Manual Factory settings for each Ethernet protocols: EtherCat EtherNet/IP Modbus TCP/IP IDENTIFICATION SETTINGS Vendor ID : 0x0000FFFF Vendor ID : 0x0000011B N / A Product Code : 0x0000000B Product Code : 0x0000010D Serial Number :...

  • Page 19: Serial Communication Protocol

    Serial communication protocol Figure 3.4.2.6 shows the pin-out of the communication connectors when used in serial mode for the receptacle (male) present on the Adaptive Gripper S model and the cable (female) provided with your Gripper. Figure 3.4.2.6 – Serial communication pin-out.

  • Page 20: Control

    (the motion of each mechanical phalanx is done automatically). Since the Robotiq Adaptive Gripper S model has its own internal controller, high-level commands such as "Go to requested position" are used to control it. The embedded Robotiq Controller takes care of the regulation of the speed and the force prescribed, while the mechanical design of the fingers automatically adapts to the shape of object(s).

  • Page 21: Control Overview

    Figure 4.3.1 – Gripper memory shared with the robot controller. 4.4 Status LEDs Three status LED lights provide general information about the Adaptive Gripper S model status. Figure 4.4.1 shows the LEDs and their locations. Robotiq inc. © 2011...

  • Page 22: Supply Led

    Robotiq Adaptative Gripper, S model Instruction Manual Figure 4.4.1 – Status LEDs. 4.4.1 Supply LED Color State Information Blue Gripper is not power supplied Blue The Gripper is correctly supplied and the control board is running 4.4.2 Communication LED Color...

  • Page 23: Gripper Register Mapping

    Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB (Most Significant Bit). Version 3 of the Adaptive Gripper S model firmware provides new functionalities such as the direct position control of the fingers via "go to"...

  • Page 24: Robot Output Registers & Functionalities

    Robotiq Adaptative Gripper, S model Instruction Manual Register mapping for the Advanced Control Mode Register Robot Output / Functionalities Robot Input / Status Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 GRIPPER OPTIONS OBJECT DETECTION Byte 2 GRIPPER OPTIONS #2 (EMPTY)
  • Page 25 Reserved rGLV: The Glove Mode option must be on when using the Robotiq Glove on the Adaptive Gripper. Using the Robotiq Glove without this option could result in a hazardous behavior of the Gripper. This option is not implemented in the beta version of the firmware rAAC : The Automatic Centering option synchronizes the Gripper fingers in order to automatically center the object it seizes.
  • Page 26 Robotiq Adaptative Gripper, S model Instruction Manual Caution To avoid geometrical interference between fingers B and C, the reachable positions for the scissor axis is reduced if the Individual Control of Scissor option is selected. Please refer to the rPRA (Position Request) register description for more information about the reachable positions of the scissor axis.
  • Page 27 Robotiq Adaptative Gripper, S model Instruction Manual Register: SPEED (FINGER A IN INDIVIDUAL MODE) Address: Byte 4 Name Description Set Grasping Speed of the Gripper (finger A in individual mode). 0 – 7 rSPA 0x00 (Minimum velocity) to 0xFF (Maximum velocity)
  • Page 28 Robotiq Adaptative Gripper, S model Instruction Manual This register is used to set finger B force. It is only considered if the Individual Control of Finger option is selected (bit rICF is set). Please refer to rFRA (force) register for more information.

  • Page 29: Robot Input Registers & Status

    Robotiq Adaptative Gripper, S model Instruction Manual This register is used to set the scissor axis force. It is only considered if the Individual Control of Scissor option is selected (bit rICS is set). Please refer to rFRA (force) register for more information.
  • Page 30 Gripper. This is not considered a normal usage of the Gripper and it is not recommended by Robotiq. Caution The object detection is precise only to the order of a few mm. In some circumstances object detection may not detect an object even if it is successfully grasped.
  • Page 31 Robotiq Adaptative Gripper, S model Instruction Manual Name Description Echo of the requested position for the Gripper (or finger A in individual mode) 0 – 7 gPRA 0x00 (Full Opening) to 0xFF (Full Closing) Register: FINGER A POSITION Address: Byte 4...
  • Page 32 Robotiq Adaptative Gripper, S model Instruction Manual Address: Byte 10 Name Description Position of Finger C 0 – 7 gPOC 0x00 (Fully opened) to 0xFF (Fully closed) Register: FINGER C CURRENT Address: Byte 11 Name Description Current of Finger C 0 –...

  • Page 33: Example

    4.9 MODBUS RTU communication protocol The Robotiq Adaptive Gripper S model can be controlled over RS232 using the Modbus RTU protocol. This section is intended to provide guidelines for setting up a Modbus scanner that will adequately communicate with the gripper.

  • Page 34: Connection Setup

    Robotiq Adaptative Gripper, S model Instruction Manual 4.9.1 Connection setup The following table describes the connection requirement for controlling the Robotiq Adaptive Gripper S model using the Modbus RTU protocol. Physical Interface RS232 Baud Rate 115,200 bps Data Bits Stop Bit...

  • Page 35: Preset Single Register (Fc06)

    Robotiq Adaptative Gripper, S model Instruction Manual SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4433 Cyclic Redundancy Check (CRC) Note The Adaptive Gripper register values are updated at a 200Hz frequency.

  • Page 36: Modbus Tcp Communication Protocol

    4.10 MODBUS TCP communication protocol The Robotiq Adaptive Gripper S model can be controlled using the Modbus TCP protocol. This section is intended to provide guidelines for setting up a Modbus TCP communication to adequately send commands and read inputs from the gripper.

  • Page 37: Preset Multiple Registers (Fc16)

    Robotiq Adaptative Gripper, S model Instruction Manual 4.10.2 Read Input Registers (FC04) Function code 04 (FC04) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object status, finger position, etc. Ex: This message asks for registers 0x0000 (0000) to 0x0006 (0006) which contain all the robot input statuses except for the scissor axis.
  • Page 38 Robotiq Adaptative Gripper, S model Instruction Manual where 01 00 Transaction identifier 00 00 Protocol identifier 00 0d Length UnitID Function 16 (Preset multiple registers) 00 00 Address of the first register 00 03 The number of registers to write...

  • Page 39: User Interface

    Demo mode. Xbox Remote control mode. Communication options configuration. Note Robotiq User Interface Software is designed for the testing and demo control of the Adaptive Gripper S-Model. It is not a production control software. visit http://support.robotiq.com to get the latest installer of the Robotiq User Interface for S-Model Figure 5.1 Main screen of the Robotiq User Interface.
  • Page 40 You can leave the settings on default or choose an installation directory of your own. After installation is completed you can launch the Robotiq User Interface, if you do not have the required drivers for the USB connection of the Gripper, please select the box shown in figure 5.2.1.

  • Page 41: Ui Description

    5.3 UI Description When you first start the Robotiq User Interface you need to set the connection mode you will use (see Figure 5.3.1). Choose between Modbus RTU or Modbus TCP according to your connection options. If you do not know what connection you will be using simply close the pop-up window (you can connect later).
  • Page 42 Robotiq Adaptative Gripper, S model Instruction Manual Figure 5.3.1 Connection options available on start-up of the Robotiq User Interface. Once you choose the connection mode, the first tab becomes activated (see Figure 5.3.2). The first tab is the Gripper Control tab (detailed in section 5.5...

  • Page 43: Connection

    Note that you must choose the right connection option (see section 5.2) for your Gripper. 5.4.1 Modbus RTU A connection via Modbus RTU can be established with all Robotiq Adaptive Grippers S models via the USB port panel or via the communication connector for Grippers with Modbus RTU communication option.

  • Page 44: Control Of The Adaptive Gripper

    The Modbus TCP does not allow Communication Protocol Configuration. A connection using the Modbus RTU protocol is required to perform the reconfiguration of the communication protocol. 5.5 Control of the Adaptive Gripper This section guides you through the control of the Adaptive Gripper S model via the Gripper Control tab. 5.5.1 Initialization & Gripper Status Activate Once a connection to the Gripper has been established (see section 5.4...

  • Page 45: Operation Mode

    Figure 5.5.2.1 Xbox Controls for the Adaptive Gripper S model 5.5.3 Operation Mode You can select the operation mode of your Gripper in the "Operation Mode" section of the Robotiq User Interface. Simply check the corresponding radio button or click on the corresponding picture to activate any mode.

  • Page 46: Gripper Feedback

    Robotiq Adaptative Gripper, S model Instruction Manual Figure 5.5.4.1 Changing the control parameters of the Gripper 5.5.5 Gripper Feedback The "Gripper Feedback" section provides you with information concerning the current status of the Adaptive Gripper. Object Detection: If the Gripper detects a contact with an object when closing, the "Object Detection" display turns yellow on the corresponding finger.

  • Page 47: Configuration Of The Adaptive Gripper

    Gripper, it can only be accessed via Modbus RTU. To access the configuration tab click this tab in the main Robotiq User Interface screen as shown in figure 5.3.2. The configuration tab display depends on the communication protocol option of your Gripper, each communication protocol being displayed in one...
  • Page 48 The support section buttons : Help will pop-up the link to Robotiq support, where you can navigate the Adaptive Gripper manual for help or post comments for help. You can also access the Robotiq User Interface version you are using via the About Robotiq User Interface button.

  • Page 49: Modbus Tcp

    Robotiq Adaptative Gripper, S model Instruction Manual Figure 5.6.1.2: Applying the changes, this example changed the default IP of the Adaptive Gripper. To read the current settings of the Gripper, click on the Read button. To apply the default settings, click on the...
  • Page 50 The support section buttons : Help will pop-up the link to Robotiq support, where you can navigate the Adaptive Gripper manual for help or post comments for help. You can also access the Robotiq User Interface version you are using via the About Robotiq User Interface button.

  • Page 51: Devicenet

    Robotiq Adaptative Gripper, S model Instruction Manual Figure 5.6.2.2: Applying the changes, this example changed the default IP of the Adaptive Gripper. To read the current settings of the Gripper, click on the Read button. To apply the default settings, click on the...
  • Page 52 500 Kbaud. The support section buttons : Help will pop-up the link to Robotiq support, where you can navigate the manual for help or post comments for help. Language will change the language of the Configuration Tool interface. Français will change the Configuration Tool interface to French.

  • Page 53: Menu Options

    Output registers: Will pop-up the Output registers tables, you can refer to section 4.6 for details You can close the pop-up of the "view" menu at anytime, the Robotiq User Interface will stay open. Help menu: Support: Will link you to Robotiq support services.

  • Page 54: Specifications

    Robotiq Adaptative Gripper, S model Instruction Manual 6. Specifications 6.1 Technical dimensions Figure 6.1.1 – Robotiq Adaptive Gripper model S technical dimensions. Robotiq inc. © 2011...

  • Page 55: Mechanical Specifications

    Robotiq Adaptative Gripper, S model Instruction Manual 6.2 Mechanical specifications Gripper Opening (see Figure 4.6.1 0-6.7 in [0-169 mm] Gripper Approximate Weight 5 lbs [2.3 kg] Recommended Payload (Encompassing Grip) 22 lbs [10 kg] Recommended Payload (Fingertip Grip) 6.6 lbs...

  • Page 56: Moment Of Inertia And Center Of Mass

    Robotiq Adaptative Gripper, S model Instruction Manual The user of the Gripper must always ensure that the result of the forces against the finger is always lower than the maximum Break Away Force. When doing a fingertip grip, the weight that can be lifted is defined by Where, F is the force that is applied to the load by the Gripper.

  • Page 57: Yaskawa Sda-5D_10D Faceplate

    Robotiq Adaptative Gripper, S model Instruction Manual Figure 6.5.1.1: Blank faceplate of the Adaptive Gripper S model. 6.5.2 Yaskawa SDA-5D_10D faceplate Robotiq inc. © 2011...
  • Page 58 Robotiq Adaptative Gripper, S model Instruction Manual Figure 6.5.2.1: Yaskawa SDA 5D/10D faceplate of the Adaptive Gripper S model. Robotiq inc. © 2011...

  • Page 59: Warranty

    In no event shall Robotiq be liable for special, incidental, or consequential damages. Robotiq shall not be liable for damages resulting from the use of the product, nor shall be responsible for any failure in the performance of other items to which the product is connected or the operation of any system of which the product may be a part.

  • Page 60: Contact

    Robotiq Adaptative Gripper, S model Instruction Manual 8. Contact www.robotiq.com Go to Contact Us Phone 1-888-ROBOTIQ (762-6847) 1-418-800-0045 (outside US and Canada) 1-418-800-0046 Technical support and Engineering 1-866-508-1997 Sales US 1-812-220-4578 Sales Canada, Europe and Asia 1-418-800-0045 Head office Robotiq:...

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