Lean ROBOTIQ HAND-E Adaptive Gripper Manuals

Lean ROBOTIQ HAND-E Adaptive Gripper Manuals

Manuals and User Guides for Lean ROBOTIQ HAND-E Adaptive Gripper. We have 1 Lean ROBOTIQ HAND-E Adaptive Gripper manual available for free PDF download: Original Notice

Lean ROBOTIQ HAND-E Original Notice

Lean ROBOTIQ HAND-E Original Notice (90 pages)

Brand: Lean | Category: Robotics | Size: 7 MB

Table of Contents

Table of Contents
2
Revisions

5
1 General Presentation

7
- Gripper Nomenclature
  8
- Object Picking
  10
- Setup and Control
  11
2 Safety

12
- Warning
  12
- Intended Use
  13
3 Installation

14
4 Control

29
- Overview
  29
- Gripper Register Mapping
  31
- Robot Output Registers& Functionalities
  32
- Robot Input Registers& Status
  35
- Picking Features
  38
- Force Control
  38
- Re-Grasp
  39
- Object Detection
  40
- Brake Engagement
  40
- Control Logic Example
  41
- Modbusrtu Communication
  42
- Connection Setup
  43
- Read Holding Registers (FC03)
  44
- Read Input Registers (FC04)
  45
- Preset Multiple Registers (FC16)
  46
- Master Read & Write Multiple Registers FC23
  47
- Modbus RTU Example
  49
- Control over Hanwha Using the Plugin
  58
- Gripper Dashboard
  58
5 User Interface

62
6 Specifications

63
- Technical Dimensions
  64
- Couplings
  65
- Fingers and Fingertips
  67
- Rack
  67
- Flat Rubber (NBR) Overmolded Fingers
  68
- Fingertip Holders
  68
- Flat Aluminum Finger
  69
- Grooved Fingertips
  69
- Mechanical Specifications
  70
- Specifications
  70
- Payload and Force
  71
- Center of Mass and Tool Center Point
  74
- Moment and Force Limits
  76
- Electrical Specifications
  77
7 Maintenance

78
- Gripper Cleaning
  79
- Periodic Inspection
  81
- Rack & Pinion Mechanism Cleaning
  82
8 Spare Parts, Kitsand Accessories

83
9 Troubleshooting

85
10 Warranty and Patent

86
11 Contact

87
12 Harmonized Standards, Declarations and Certificates

88

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